updates project to work with zephyr v4.0.x #146

Z0rdon · 2025-01-14T02:22:57Z

Upticks the compatible zephyr version.
The 'zephyr_library_import' needed to be replaced with 'zephyr_link_libraries' to avoid the 'whole-archive' linking behavior (which would consume massive amounts of RAM).
Other miscellaneous fixes were made in order to build.

pablogs9 · 2025-01-14T06:12:47Z

Hello would you mind updating both workflows to make this compatible with your PR?
https://github.com/micro-ROS/micro_ros_zephyr_module/tree/jazzy/.github/workflows

Z0rdon · 2025-01-15T05:47:02Z

Absolutely- I'll try to have these changes done in the next 24 hours.

Z0rdon · 2025-01-16T05:18:06Z

I have added an attempt to update the workflows.
I haven't used github actions before so I welcome your feedback and corrections.

I was testing locally using 'act', but I was having some difficulty getting the checkout to match the 'ref'. Instead, it appeared that the microROS-zephyr-module repo in the 'act' execution environment always matched whatever was currently checked out locally. I'll have to examine the docs a bit more.

Additionally, I also could not get any workflows to automatically appear in the 'Actions' pane on the Github page of my fork of the project. Are the workflows auto-populated somehow or do I need to perform some manual setup?

Thanks!

pablogs9 · 2025-01-16T06:47:20Z

CI running, it seems that I need to approve the execution

Z0rdon · 2025-01-17T05:27:00Z

Next attempt to fix the workflows.

As for the issues I previously ran into:
First, I believe my issue when running 'act' relates to bug #2391.
Second, changing the default branch of my fork allowed the workflows to become visible. Alas executing the free runner produces the error "no space left on device" due to the large size of the environment.
I may try to either cut out some of the ubuntu fluff or set up a self-hosted runner so I can iterate locally.

I was surprised the previous ci.yml change didn't build correctly. My local execution runs were successful. Nevertheless, I have made some adjustments to hopefully get the SDK detected correctly.

pablogs9

Some comments

pablogs9 · 2025-01-20T07:13:45Z

.github/workflows/ci.yml

  pull_request:
-    branches:
-      - '**'
+    branches-ignore: ["iron", "rolling", "humble"]


Please do not ignore PR to active branches

pablogs9 · 2025-01-20T07:14:31Z

.github/workflows/nightly.yml

+      - uses: actions/checkout@v4
        with:
          path: micro_ros_zephyr_module
-          branch: ${{ matrix.branch }}
+          ref: jazzy


Nightly is not running all ROS 2 distros as in previous approach

Hello @pablogs9. Thanks for the feedback.

Currently, I have split the GitHub actions into the following configurations:

The iron/rolling/humble coverage was moved into GitHub actions called "legacy_ci.yml" and "legacy_nightly.yml". These "legacy" actions test the iron/rolling/humble branches against Zephyr versions v3.1.0 and v2.7.2, using the Zephyr docker image based on SDK 0.14.2. [This matches the configuration currently in use by this microROS Zephyr project.]

The jazzy coverage is in "ci.yml" and "nightly.yml". These actions are running with Zephyr version v4.0.99, using the Zephyr docker image based on SDK 0.16.9-rc3.

Is it imperative that the older ROS 2 distros run on the newer Zephyr setup?

Hello @Z0rdon,

Humble is an active distro until May 2027 and Rolling is "newer" than Jazzy.

I'm okay with getting rid of Iron since it is EOL.

Concerning the CI, ideally, we need to have a single workflow that tests the module for all active distros.

Z0rdon · 2025-03-09T18:54:24Z

Hello @pablogs9.
I hope you are well.

Here is my next workflow adjustment attempt. I believe all of the active ROS2 distros are now part of a single workflow, as you requested.

Right now the relevant commits that enable updating the zephyr version are only on the 'jazzy' branch, so the CI will likely only work for this branch until the relevant changes are applied to the other branches.
I have not investigated yet whether these commits can simply be 'cherry picked' to the other active distro branches or if additional work will be required.

pablogs9 · 2025-03-10T07:02:46Z

Hey @Z0rdon, CI looks good, we are going to do a quick test and will merge ASAP.

Thanks for the contribution.

Signed-off-by: Antón Casas <antoncasas@eprosima.com>

…r image Signed-off-by: Antón Casas <antoncasas@eprosima.com>

.github/workflows/ci.yml

.github/workflows/nightly.yml

Signed-off-by: Antón Casas <antoncasas@eprosima.com>

pablogs9 · 2025-03-17T07:06:20Z

@mergify backport humble rolling

mergify · 2025-03-17T07:06:38Z

backport humble rolling

✅ Backports have been created

Details

#147 updates project to work with zephyr v4.0.x (backport #146) has been created for branch humble but encountered conflicts
#148 updates project to work with zephyr v4.0.x (backport #146) has been created for branch rolling but encountered conflicts

* updates project to work with zephyr v4.0.x * updating workflows for zephyr v4.0.x * adds cmake prefix path, changes to ci image * adds manual trigger to ci workflows * updates CI workflows for all active ROS2 distros * Get uart device with Zephyr 4's Devicetree-centric approach Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Tested in v4.1.0 using manual installation on Ubuntu:24.04 base Docker image Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Add v4.1.0 to CI and nightly Signed-off-by: Antón Casas <antoncasas@eprosima.com> * State SDK used in CI. Restore Z0rdon's info about docker image used. Signed-off-by: Antón Casas <antoncasas@eprosima.com> --------- Signed-off-by: Antón Casas <antoncasas@eprosima.com> Co-authored-by: Antón Casas <antoncasas@eprosima.com> (cherry picked from commit 7cbe6da) # Conflicts: # .github/workflows/nightly.yml # modules/libmicroros/microros_transports/serial/microros_transports.c

* updates project to work with zephyr v4.0.x * updating workflows for zephyr v4.0.x * adds cmake prefix path, changes to ci image * adds manual trigger to ci workflows * updates CI workflows for all active ROS2 distros * Get uart device with Zephyr 4's Devicetree-centric approach Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Tested in v4.1.0 using manual installation on Ubuntu:24.04 base Docker image Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Add v4.1.0 to CI and nightly Signed-off-by: Antón Casas <antoncasas@eprosima.com> * State SDK used in CI. Restore Z0rdon's info about docker image used. Signed-off-by: Antón Casas <antoncasas@eprosima.com> --------- Signed-off-by: Antón Casas <antoncasas@eprosima.com> Co-authored-by: Antón Casas <antoncasas@eprosima.com> (cherry picked from commit 7cbe6da) # Conflicts: # .github/workflows/nightly.yml

* updates project to work with zephyr v4.0.x (#146) * updates project to work with zephyr v4.0.x * updating workflows for zephyr v4.0.x * adds cmake prefix path, changes to ci image * adds manual trigger to ci workflows * updates CI workflows for all active ROS2 distros * Get uart device with Zephyr 4's Devicetree-centric approach Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Tested in v4.1.0 using manual installation on Ubuntu:24.04 base Docker image Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Add v4.1.0 to CI and nightly Signed-off-by: Antón Casas <antoncasas@eprosima.com> * State SDK used in CI. Restore Z0rdon's info about docker image used. Signed-off-by: Antón Casas <antoncasas@eprosima.com> --------- Signed-off-by: Antón Casas <antoncasas@eprosima.com> Co-authored-by: Antón Casas <antoncasas@eprosima.com> (cherry picked from commit 7cbe6da) # Conflicts: # .github/workflows/nightly.yml * Solve merge conflicts Signed-off-by: Antón Casas <antoncasas@eprosima.com> * colcon ignore rmw_security_common Signed-off-by: Antón Casas <antoncasas@eprosima.com> --------- Signed-off-by: Antón Casas <antoncasas@eprosima.com> Co-authored-by: Zordon <101883124+Z0rdon@users.noreply.github.com> Co-authored-by: Antón Casas <antoncasas@eprosima.com>

* updates project to work with zephyr v4.0.x (#146) * updates project to work with zephyr v4.0.x * updating workflows for zephyr v4.0.x * adds cmake prefix path, changes to ci image * adds manual trigger to ci workflows * updates CI workflows for all active ROS2 distros * Get uart device with Zephyr 4's Devicetree-centric approach Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Tested in v4.1.0 using manual installation on Ubuntu:24.04 base Docker image Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Add v4.1.0 to CI and nightly Signed-off-by: Antón Casas <antoncasas@eprosima.com> * State SDK used in CI. Restore Z0rdon's info about docker image used. Signed-off-by: Antón Casas <antoncasas@eprosima.com> --------- Signed-off-by: Antón Casas <antoncasas@eprosima.com> Co-authored-by: Antón Casas <antoncasas@eprosima.com> (cherry picked from commit 7cbe6da) # Conflicts: # .github/workflows/nightly.yml # modules/libmicroros/microros_transports/serial/microros_transports.c * Solve merge conflicts Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Harmonize device config with other branches Revert "boards: move board specific configurations (#63)" This reverts commit 7e07006. Signed-off-by: Antón Casas <antoncasas@eprosima.com> * Update ci.yml and nightly.yml Signed-off-by: Antón Casas <antoncasas@eprosima.com> --------- Signed-off-by: Antón Casas <antoncasas@eprosima.com> Co-authored-by: Zordon <101883124+Z0rdon@users.noreply.github.com> Co-authored-by: Antón Casas <antoncasas@eprosima.com>

updates project to work with zephyr v4.0.x

38069f3

updating workflows for zephyr v4.0.x

37f0412

Z0rdon added 2 commits January 16, 2025 19:49

adds cmake prefix path, changes to ci image

33e68fe

adds manual trigger to ci workflows

cdd97dd

pablogs9 requested changes Jan 20, 2025

View reviewed changes

updates CI workflows for all active ROS2 distros

1458bdb

4ntn added 2 commits March 13, 2025 11:20

Get uart device with Zephyr 4's Devicetree-centric approach

6988fca

Signed-off-by: Antón Casas <antoncasas@eprosima.com>

Tested in v4.1.0 using manual installation on Ubuntu:24.04 base Docke…

357723f

…r image Signed-off-by: Antón Casas <antoncasas@eprosima.com>

pablogs9 requested changes Mar 14, 2025

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4ntn added 2 commits March 14, 2025 12:42

Add v4.1.0 to CI and nightly

cbf11fa

Signed-off-by: Antón Casas <antoncasas@eprosima.com>

State SDK used in CI. Restore Z0rdon's info about docker image used.

57496a6

Signed-off-by: Antón Casas <antoncasas@eprosima.com>

pablogs9 merged commit 7cbe6da into micro-ROS:jazzy Mar 17, 2025
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mergify bot mentioned this pull request Mar 17, 2025

updates project to work with zephyr v4.0.x (backport #146) #147

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mergify bot mentioned this pull request Mar 17, 2025

updates project to work with zephyr v4.0.x (backport #146) #148

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updates project to work with zephyr v4.0.x #146

updates project to work with zephyr v4.0.x #146

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