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ROS2 on microcontrollers !

License: Apache License 2.0

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robotics-mark jlamperez erlerobot sichitong ncnynl seyboman fushengyong daka935 laicize freshmea

riot-ros2's Issues

Problem compiling `samr21-xpro` example

Make error when running:

prompt> cd <PATH-TO-WS>/install/listener_c
prompt> make BOARD=samr21-xpro
...
/root/ros2_riot_ws/install/rcutils/time_unix.c:42:4: error: #error no monotonic clock function available
 #  error no monotonic clock function available
    ^~~~~
/root/ros2_riot_ws/install/rcutils/time_unix.c: In function 'rcutils_system_time_now':
/root/ros2_riot_ws/install/rcutils/time_unix.c:65:3: warning: implicit declaration of function 'clock_gettime'; did you mean 'localtime'? [-Wimplicit-function-declaration]
   clock_gettime(CLOCK_REALTIME, &timespec_now);
   ^~~~~~~~~~~~~
   localtime
/root/ros2_riot_ws/install/rcutils/time_unix.c: In function 'rcutils_steady_time_now':
/root/ros2_riot_ws/install/rcutils/time_unix.c:96:17: error: 'CLOCK_MONOTONIC' undeclared (first use in this function)
   clock_gettime(CLOCK_MONOTONIC, &timespec_now);
                 ^~~~~~~~~~~~~~~
/root/ros2_riot_ws/install/rcutils/time_unix.c:96:17: note: each undeclared identifier is reported only once for each function it appears in
/root/ros2_riot_ws/install/RIOT/Makefile.base:81: recipe for target '/root/ros2_riot_ws/install/listener_c/bin/samr21-xpro/rcutils/time_unix.o' failed
make[2]: *** [/root/ros2_riot_ws/install/listener_c/bin/samr21-xpro/rcutils/time_unix.o] Error 1
/root/ros2_riot_ws/install/RIOT/Makefile.base:20: recipe for target 'ALL--/root/ros2_riot_ws/install/rcutils' failed
make[1]: *** [ALL--/root/ros2_riot_ws/install/rcutils] Error 2
/root/ros2_riot_ws/install/RIOT/Makefile.include:297: recipe for target 'all' failed
make: *** [all] Error 2

Complete dump available here.

This can be easily reproduced using code from #3 as follows:

Terminal 1

docker run -it --privileged micro-ros_test:latest
creating tapbr0
creating tap0
creating tap1
Building application "talker_c" for "native" with MCU "native".

"make" -C /root/ros2_riot_ws/install/RIOT/pkg/micro-ecc
rm -Rf /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc
mkdir -p /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc
/root/ros2_riot_ws/install/RIOT/dist/tools/git/git-cache clone "https://github.com/kmackay/micro-ecc.git" "b6c0cdbe7d20af48b0c2a909a66ff00b093d1542" "/root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc"
Cloning into '/root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc'...
remote: Counting objects: 1086, done.
remote: Total 1086 (delta 0), reused 0 (delta 0), pack-reused 1086
Receiving objects: 100% (1086/1086), 647.95 KiB | 191.00 KiB/s, done.
Resolving deltas: 100% (637/637), done.
Checking connectivity... done.
HEAD is now at b6c0cdb... Add functions to get the private/public key size for a curve (#73)
touch /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc/.git-downloaded
git -C /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc checkout -f b6c0cdbe7d20af48b0c2a909a66ff00b093d1542
HEAD is now at b6c0cdb... Add functions to get the private/public key size for a curve (#73)
git -C /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc am --ignore-whitespace "/root/ros2_riot_ws/install/RIOT/pkg/micro-ecc"/patches/*.patch
Applying: Add RIOT Makefile
Applying: Include RIOT Hardware RNG interface
Applying: Silence warning of unused variable
touch /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc/.git-patched
make -C /root/ros2_riot_ws/install/talker_c/bin/pkg/native/micro-ecc
...
/root/ros2_riot_ws/install/std_msgs/std_msgs__rosidl_typesupport_cbor/u_int8_multi_array__type_support.c:108:51: note: in expansion of macro ‘rosidl_typesupport_cbor’
 ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_cbor, std_msgs, msg, UInt8MultiArray)() {
                                                   ^
   text	   data	    bss	    dec	    hex	filename
 163093	   1208	  74796	 239097	  3a5f9	/root/ros2_riot_ws/install/talker_c/bin/native/talker_c.elf
/root/ros2_riot_ws/install/talker_c/bin/native/talker_c.elf tap0 
RIOT native interrupts/signals initialized.
LED_RED_OFF
LED_GREEN_ON
RIOT native board initialized.
RIOT native hardware initialization complete.

main(): This is RIOT! (Version: 2016.07-devel-3223-g27c86-fca4d54ce069-HEAD)
Publishing: 'Hello World: 1'
Publishing: 'Hello World: 2'
Publishing: 'Hello World: 3'
...

Terminal 2

Victor@iMac-de-Victor:~/riot-ros2$ docker ps
CONTAINER ID        IMAGE                   COMMAND                 CREATED              STATUS              PORTS               NAMES
fca4d54ce069        micro-ros_test:latest   "/entrypoint.sh bash"   About a minute ago   Up About a minute                       determined_torvalds
Victor@iMac-de-Victor:~/riot-ros2$ docker exec -it fca4d54ce069 bash
root@fca4d54ce069:~# cd ros2_riot_ws/install/listener_c/
root@fca4d54ce069:~/ros2_riot_ws/install/listener_c# ls
Makefile  Makefile.include  main.c
root@fca4d54ce069:~/ros2_riot_ws/install/listener_c# make BOARD=samr21-xpro
Building application "listener_c" for "samr21-xpro" with MCU "samd21".

"make" -C /root/ros2_riot_ws/install/RIOT/pkg/micro-ecc
rm -Rf /root/ros2_riot_ws/install/listener_c/bin/pkg/samr21-xpro/micro-ecc
mkdir -p /root/ros2_riot_ws/install/listener_c/bin/pkg/samr21-xpro/micro-ecc
...
/root/ros2_riot_ws/install/rcutils/time_unix.c:42:4: error: #error no monotonic clock function available
 #  error no monotonic clock function available
    ^~~~~
/root/ros2_riot_ws/install/rcutils/time_unix.c: In function 'rcutils_system_time_now':
/root/ros2_riot_ws/install/rcutils/time_unix.c:65:3: warning: implicit declaration of function 'clock_gettime'; did you mean 'localtime'? [-Wimplicit-function-declaration]
   clock_gettime(CLOCK_REALTIME, &timespec_now);
   ^~~~~~~~~~~~~
   localtime
/root/ros2_riot_ws/install/rcutils/time_unix.c: In function 'rcutils_steady_time_now':
/root/ros2_riot_ws/install/rcutils/time_unix.c:96:17: error: 'CLOCK_MONOTONIC' undeclared (first use in this function)
   clock_gettime(CLOCK_MONOTONIC, &timespec_now);
                 ^~~~~~~~~~~~~~~
/root/ros2_riot_ws/install/rcutils/time_unix.c:96:17: note: each undeclared identifier is reported only once for each function it appears in
/root/ros2_riot_ws/install/RIOT/Makefile.base:81: recipe for target '/root/ros2_riot_ws/install/listener_c/bin/samr21-xpro/rcutils/time_unix.o' failed
make[2]: *** [/root/ros2_riot_ws/install/listener_c/bin/samr21-xpro/rcutils/time_unix.o] Error 1
/root/ros2_riot_ws/install/RIOT/Makefile.base:20: recipe for target 'ALL--/root/ros2_riot_ws/install/rcutils' failed
make[1]: *** [ALL--/root/ros2_riot_ws/install/rcutils] Error 2
/root/ros2_riot_ws/install/RIOT/Makefile.include:297: recipe for target 'all' failed
make: *** [all] Error 2

reaching a similar error.

Heap allocation problem

It seems that there is some memory-related problems on embedded nodes.
The most probable problem is that some heap-allocated memory is not freed.

Problems compiling listener_c and talker_c for BOARD=samr21-xpro

Hi @astralien3000,

First of all, great job porting ros2 on microcontrollers with RIOT.

Yesterday when I was trying to compile listener_c and talker_c for smar21-xpro I was experimenting the next error

/home/jlamperez/Workspace/riot-ros2/src/rmw/error_handling.c:27:38: error: __emutls_t.__rmw_error_state causes a section type conflict with __rmw_error_state
 RMW_THREAD_LOCAL rmw_error_state_t * __rmw_error_state = NULL;
                                      ^
/home/jlamperez/Workspace/riot-ros2/src/rmw/error_handling.c:27:38: note: '__rmw_error_state' was declared here
/home/jlamperez/Workspace/riot-ros2/RIOT/Makefile.base:81: recipe for target '/home/jlamperez/Workspace/riot-ros2/examples/talker_c/bin/samr21-xpro/rmw/error_handling.o' failed
make[3]: *** [/home/jlamperez/Workspace/riot-ros2/examples/talker_c/bin/samr21-xpro/rmw/error_handling.o] Error 1
make[3]: Leaving directory '/home/jlamperez/Workspace/riot-ros2/src/rmw'
/home/jlamperez/Workspace/riot-ros2/RIOT/Makefile.base:20: recipe for target 'ALL--/home/jlamperez/Workspace/riot-ros2/src/rmw' failed
make[2]: *** [ALL--/home/jlamperez/Workspace/riot-ros2/src/rmw] Error 2
make[2]: Leaving directory '/home/jlamperez/Workspace/riot-ros2'
/home/jlamperez/Workspace/riot-ros2/RIOT/Makefile.base:20: recipe for target 'ALL--/home/jlamperez/Workspace/riot-ros2' failed
make[1]: *** [ALL--/home/jlamperez/Workspace/riot-ros2] Error 2
make[1]: Leaving directory '/home/jlamperez/Workspace/riot-ros2/examples/talker_c'
/home/jlamperez/Workspace/riot-ros2/examples/talker_c/../../RIOT/Makefile.include:297: recipe for target 'all' failed
make: *** [all] Error 2

The command I used inside riot-ros2/examples/talker_c was

make RMW=rmw_mqtt BOARD=samr21-xpro

Do you know how to solve it to allow me to flash the board?

Thank you for your time.

Jorge

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