Merge pull request #1 from mROS-base/change_mros2_to_submodule

Change mros2 to submodule

Author: s-hosoai

.gitignore

@@ -1,2 +1,4 @@
 build/
-sdkconfig
+sdkconfig
+*.old
+*.lock

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "mros2"]
+	path = mros2
+	url = https://github.com/mROS-base/mros2.git

CMakeLists.txt

@@ -1,8 +1,44 @@
-# For more information about build system see
-# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
-# The following five lines of boilerplate have to be in your project's
-# CMakeLists in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.16)
-add_compile_options(-w)
-include($ENV{IDF_PATH}/tools/cmake/project.cmake "include")
-project(mros2-esp32)
+set(SRCS "mros2/src/mros2.cpp"
+        "mros2/embeddedRTPS/src/communication/UdpDriver.cpp"
+        "mros2/embeddedRTPS/src/messages/MessageTypes.cpp"
+        "mros2/embeddedRTPS/src/messages/MessageReceiver.cpp"
+        "mros2/embeddedRTPS/src/discovery/TopicData.cpp"
+        "mros2/embeddedRTPS/src/discovery/ParticipantProxyData.cpp"
+        "mros2/embeddedRTPS/src/discovery/SEDPAgent.cpp"
+        "mros2/embeddedRTPS/src/discovery/SPDPAgent.cpp"
+        "mros2/embeddedRTPS/src/storages/PBufWrapper.cpp"
+        "mros2/embeddedRTPS/src/ThreadPool.cpp"
+        "mros2/embeddedRTPS/src/entities/Participant.cpp"
+        "mros2/embeddedRTPS/src/entities/Domain.cpp"
+        "mros2/embeddedRTPS/src/entities/StatelessReader.cpp"
+        "mros2/embeddedRTPS/thirdparty/Micro-CDR/src/c/common.c"
+        "mros2/embeddedRTPS/thirdparty/Micro-CDR/src/c/types/basic.c"
+        "mros2/embeddedRTPS/thirdparty/Micro-CDR/src/c/types/string.c"
+        "mros2/embeddedRTPS/thirdparty/Micro-CDR/src/c/types/sequence.c"
+        "mros2/embeddedRTPS/thirdparty/Micro-CDR/src/c/types/array.c"
+        "mros2/embeddedRTPS/thirdparty/lwip/default_netif.c"
+        "cmsis-esp32/lwip.c"
+        "cmsis-esp32/cmsis-esp.c"
+        )
+
+set(INCS "mros2/include"
+        "mros2/include/mros2"
+        "mros2/mros2_msgs"
+        "mros2/embeddedRTPS/include"
+        "mros2/embeddedRTPS/thirdparty/lwip"
+        "mros2/embeddedRTPS/thirdparty/Micro-CDR/include"
+        "cmsis-esp32/include"
+        "include"
+        "custom_msgs"
+        ${CMAKE_SOURCE_DIR}/main
+        )
+
+idf_component_register(
+        SRCS ${SRCS}
+        INCLUDE_DIRS ${INCS})
+
+add_custom_command(
+        OUTPUT templates.hpp
+        COMMAND python3 ${COMPONENT_PATH}/mros2/mros2_header_generator/templates_generator.py ${CMAKE_SOURCE_DIR}/main)
+add_custom_target(Template SOURCES templates.hpp)
+add_dependencies(${COMPONENT_LIB} Template)

Readme.md

@@ -12,22 +12,28 @@ Please also check [mros2 repository](https://github.com/mROS-base/mros2) for mor
 - M5Stack Core2
 - M5Stack CoreS3
 
-# Getting Started
+# Quickstart by this repository itself
 
 ## install esp-idf
 https://docs.espressif.com/projects/esp-idf/en/latest/esp32/index.html
 
-## clone and settings
 
+After install esp-idf, you need to install jinja2 library in esp-idf environment.
+
+## git clone and settings
 ```
-git clone https://github.com/mROS-base/mros2-esp32.git
+git clone --recursive https://github.com/mROS-base/mros2-esp32.git
 cd mros2-esp32
 ```
-Change WiFi SSID/Pass
-- /main/include/wifi.h
+### Change WiFi SSID/Pass
+Change ESP_WIFI_SSID and ESP_WIFI_PASS in ```/workspace/common/wifi/wifi.h```.
+
+### Change IP address
+Change IP address in ```/include/rtps/config.h```.
 
-Change IP address
-- /components/include/rtps/config.h
+When using DHCP, it is also necessary to specify the IP address.
+Flash the app and check the IP address from startup log.
+After that chenge the IP address in ```config.h``` and rebuild it.
 
 ## Examples
 This repository contains some example applications in [workspace/](workspace/) to communicate with ROS 2 nodes on the host.
@@ -42,18 +48,22 @@ Currently, the following examples are available.
 - pub_twist
 - sub_pose
 - sub_uint16
+- m5stack_sample
+
+M5Stack_sample project needs [M5Unified](https://github.com/m5stack/M5Unified) and [M5GFX](https://github.com/m5stack/M5GFX) libraries.  
+Git clone these libraries to ```common/``` directory.
 
-The following examples are under development. cannot build now.
-- mturtle_teleop
-- mturtle_teleop_joy
+
+The following examples are under development. untested.
 - pub_image
 - pub_long_string_sub_crc
 
+
 ## build Examples
 ```
 cd workspace/[Example]/
 
-/* M5Stack Basic/Core2 */
+/* M5Stack Basic / M5Stack Core2 */
 idf.py set-target esp32
 
 /* ESP32S3Dev / M5Stack CoreS3 */
@@ -69,6 +79,20 @@ idf.py menuconfig
  /* Save and Quit menuconfig */
 
 idf.py build
+
+/* If an error occurs, try the following*/
+  python -m pip install jinja2
+/* --- */
+
 idf.py -p [PORT] flash
+
 idf.py -p [PORT] monitor
+/* To exit monitor, press Ctrl + ] */
 ```
+# Usage into your ESP-IDF project
+If you needs to use mros2 into your ESP-IDF project, 
+clone this repository to ```components``` directory in your project.
+
+mros2 needs network connection and setting of IP address.
+Please see [Wifi connection example](workspace/common/wifi).
+IP address setting find in upper section [Change IP address](#change-ip-address).