micro-ROS · pablogs9 · Mar 17, 2025 · Mar 17, 2025 · Mar 17, 2025 · Mar 17, 2025
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -1,71 +1,48 @@
 name: CI
 
 on:
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
   pull_request:
-    branches:
-      - '**'
+    branches: ["rolling", "jazzy", "humble"]
 
 jobs:
 
   micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:22.04
+    container: 
+      image: zephyrprojectrtos/ci:v0.26.17
+      options: --user root
+    env:
+      CMAKE_PREFIX_PATH: /opt/toolchains
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
-        include:
-          - zephyr_version: zephyr-v2.7.2
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
-          - zephyr_version: zephyr-v3.1.0
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
+        zephyr_version: ["v4.0.0", "v4.1.0"]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           path: micro_ros_zephyr_module
 
       - name: Build
         shell: bash
         run: |
-          # Install dependencies
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y --no-install-recommends wget git cmake ninja-build gperf \
-            ccache dfu-util device-tree-compiler wget \
-            python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
-            make gcc gcc-multilib g++-multilib libsdl2-dev
-
-          # Install Zephyr environment
-          pip3 install --user -U west
-          export PATH=~/.local/bin:/github/home/.local/bin:"$PATH"
-          west init zephyrproject
-          cd zephyrproject
+          # Zephyr setup
+          apt -y update
+          west init 
           cd zephyr
           git checkout ${{ matrix.zephyr_version }}
           cd ..
-          west update
-          west zephyr-export
-          pip3 install --user -r zephyr/scripts/requirements.txt
-          cd ..
-          export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
-          export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
-          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
-          tar xvf $TOOLCHAIN_FILE_NAME
-          cd zephyr-sdk-$TOOLCHAIN_VERSION
-          ./setup.sh -h -t arm-zephyr-eabi -c
-          cd ..
-          source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
-          export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
-          export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
-          source zephyrproject/zephyr/zephyr-env.sh
+          west update --narrow
 
           # Installing micro-ROS prerequisites
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
 
           # Build with Serial USB transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
+          west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
 
           # Build with Serial transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+          west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -10,73 +10,47 @@ on:
 
 jobs:
 
-  micro_ros_zephyr_module:
+  nightly_micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:22.04
+    container: 
+      image: zephyrprojectrtos/ci:v0.26.17
+      options: --user root
+    env:
+      CMAKE_PREFIX_PATH: /opt/toolchains
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
-        distro: ["iron", "humble", "rolling"]
+        zephyr_version: ["v4.0.0", "v4.1.0"]
+        distro: ["rolling", "jazzy", "humble"]
         include:
-          - distro: iron
-            branch: iron
           - distro: rolling
             branch: rolling
+          - distro: jazzy
+            branch: jazzy
           - distro: humble
             branch: humble
-          - zephyr_version: zephyr-v2.7.2
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
-          - zephyr_version: zephyr-v3.1.0
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           path: micro_ros_zephyr_module
-          branch: ${{ matrix.branch }}
+          ref: ${{ matrix.branch }}
 
       - name: Build
         shell: bash
         run: |
-          # Install dependencies
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y --no-install-recommends wget git cmake ninja-build gperf \
-            ccache dfu-util device-tree-compiler wget \
-            python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
-            make gcc gcc-multilib g++-multilib libsdl2-dev
-
-          # Install Zephyr environment
-          pip3 install --user -U west
-          export PATH=~/.local/bin:/github/home/.local/bin:"$PATH"
-          west init zephyrproject
-          cd zephyrproject
+          # Zephyr setup
+          apt -y update
+          west init 
           cd zephyr
           git checkout ${{ matrix.zephyr_version }}
           cd ..
-          west update
-          west zephyr-export
-          pip3 install --user -r zephyr/scripts/requirements.txt
-          cd ..
-          export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
-          export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
-          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
-          tar xvf $TOOLCHAIN_FILE_NAME
-          cd zephyr-sdk-$TOOLCHAIN_VERSION
-          ./setup.sh -h -t arm-zephyr-eabi -c
-          cd ..
-          source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
-          export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
-          export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
-          source zephyrproject/zephyr/zephyr-env.sh
+          west update --narrow
 
           # Installing micro-ROS prerequisites
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
 
           # Build with Serial USB transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
+          west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
 
           # Build with Serial transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+          west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 
 # micro-ROS module for Zephyr
 
-This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2).
+This module has been tested in Zephyr RTOS v4.0.0 (SDK 0.16.9-rc3), and v4.1.0 (SDK 0.16.9-rc3), using a docker image based on 'zephyrprojectrtos/zephyr-build:v0.26.17'.
 
 ## Dependencies
 
@@ -18,7 +18,7 @@ pip3 install catkin_pkg lark-parser empy colcon-common-extensions
 For example for `disco_l475_iot1` board:
 
 ```bash
-west build -b disco_l475_iot1 micro_ros_zephyr_module
+west build -b disco_l475_iot1 -p
 ```
 
 Some configuration parameters can be found using:

diff --git a/modules/libmicroros/CMakeLists.txt b/modules/libmicroros/CMakeLists.txt
@@ -52,10 +52,9 @@ externalproject_add(libmicroros_project
     BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a
     )
 
-zephyr_library_import(libmicroros ${MICROROS_DIR}/libmicroros.a)
+zephyr_link_libraries(${MICROROS_DIR}/libmicroros.a)
 
 zephyr_interface_library_named(microros)
-add_dependencies(microros libmicroros)
 add_dependencies(microros libmicroros_project)
 target_include_directories(microros INTERFACE ${MICROROS_DIR}/include)
 
@@ -96,7 +95,6 @@ zephyr_library_sources(
 
 add_dependencies(microros microros_transports)
 add_dependencies(microros_transports libmicroros_project)
-add_dependencies(microros_transports libmicroros)
 
 # Cleaning
 

diff --git a/modules/libmicroros/libmicroros.mk b/modules/libmicroros/libmicroros.mk
@@ -102,7 +102,8 @@ $(COMPONENT_PATH)/micro_ros_src/src:
 	touch src/common_interfaces/std_srvs/COLCON_IGNORE; \
 	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
     touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
-    touch src/rcl_interfaces/test_msgs/COLCON_IGNORE;
+    touch src/rcl_interfaces/test_msgs/COLCON_IGNORE; \
+	touch src/rmw/rmw_security_common/COLCON_IGNORE;
 
 $(COMPONENT_PATH)/micro_ros_src/install: configure_colcon_meta configure_toolchain $(COMPONENT_PATH)/micro_ros_dev/install $(COMPONENT_PATH)/micro_ros_src/src
 	cd $(UROS_DIR); \

diff --git a/modules/libmicroros/microros_transports/serial/microros_transports.c b/modules/libmicroros/microros_transports/serial/microros_transports.c
@@ -24,6 +24,7 @@
 #include <stdbool.h>
 
 #define RING_BUF_SIZE 2048
+#define UART_NODE DT_NODELABEL(usart1)
 
 char uart_in_buffer[RING_BUF_SIZE];
 char uart_out_buffer[RING_BUF_SIZE];
@@ -52,9 +53,7 @@ static void uart_fifo_callback(const struct device * dev, void * args){
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
     zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
-    char uart_descriptor[8];
-    sprintf(uart_descriptor,"UART_%d", params->fd);
-    params->uart_dev = device_get_binding(uart_descriptor);
+    params->uart_dev = DEVICE_DT_GET(UART_NODE);
     if (!params->uart_dev) {
         printk("Serial device not found\n");
         return false;

diff --git a/prj.conf b/prj.conf
@@ -1,5 +1,6 @@
 CONFIG_GPIO=y
 CONFIG_MICROROS=y
+CONFIG_CPP=y
 
 CONFIG_MAIN_STACK_SIZE=25000
 CONFIG_MAIN_THREAD_PRIORITY=3
@@ -9,7 +10,6 @@ CONFIG_NEWLIB_LIBC_NANO=n
 CONFIG_PTHREAD_IPC=n
 
 CONFIG_POSIX_API=y
-CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
 CONFIG_POSIX_CLOCK=y
 
 CONFIG_STDOUT_CONSOLE=y

diff --git a/src/main.c b/src/main.c
@@ -1,7 +1,7 @@
 #include <version.h>
 
 #if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
-#include <zephyr/zephyr.h>
+#include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/devicetree.h>
 #include <zephyr/drivers/gpio.h>
@@ -39,7 +39,7 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 	}
 }
 
-void main(void)
+int main(void)
 {
 	rmw_uros_set_custom_transport(
 		MICRO_ROS_FRAMING_REQUIRED,
@@ -91,4 +91,5 @@ void main(void)
 	// free resources
 	RCCHECK(rcl_publisher_fini(&publisher, &node))
 	RCCHECK(rcl_node_fini(&node))
+  return 0;    
 }