CLION ADD LIBRARY HOW TO

Make sure to enable to DMA for the corresponding UART. Check the “Global interrupt” checkbox under the NVIC Settings. I left the default basic setup of it (115200 Bits/s, 8 Bits, None, 1). Configure it for asynchronous and disable hardware control. I activate the USART2 (the one connected to the debugger). Within CubeMX I generated a project for my board: Nucleo-476RG.

└── micro_ros_stm32cubemx_utils # the repo ├── l476rg_test # The CubeMX project explained right after For this example, this repo as well as the CubeMX project are going to be located in one directory. In order to generate the static library, we are going to need another repo micro_ros_stm32cubemx_utils. Micro ROS setupĬlone this repo and follow the instruction in order to build the Micro-ROS agent (interface between the UART and ROS2). In this post, I am using Ubuntu 20.04 with ROS2 foxy already installed. But with just a few changes we will be able to use Cmake. Micro-ROS is not already expecting you to use CMake, it’s rather using plain Makefiles. In my case I will use Clion as an IDE but most of the CMake-compatible IDE should work (Clion has a nice stm32 plugins that facilitates a lot of things like uploading, debugging, etc.). Basically what we are going to do is that we are going to create a project with CUBEMX, configure it and adapt the CMakeLists in order to link with the static Micro-ROS library. In my case, I am going to use the UART to transmit my data (using the debugger UART to avoid additional wiring). It has a lot of pins and configuration possibility, a Flash size of 1 MB and two RAMs (96 KB and 32 KB). So I have a Nucleo-L476RG which is an ultra low power board.

CLION ADD LIBRARY HOW TO

Unfortunately, I didn’t have any stm32 board officially supported by Micro-ROS, so I decided to have a look at how to run Micro-ROS on the stm32 board I had at home. So far, Micro-ROS is only officially supporting a small amount of boards. Having microcontrollers publishing topic directly into your ROS2 host could facilitate a lot of the integration.

Micro-ROS brings the ability to integrate microcontrollers into the ROS ecosystem.

Clion add library