mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Jose Antonio Moral
4df06bcfaa
* Add snap packaging * First approach for snap packaging * Working state * Fixes * Simplify snapcraft.yaml * Fix snapcraft build * Fix daemon * Fix compilation due to external micro_ros_msgs * CMakeLists cleanup
120 lines
4.0 KiB
YAML
120 lines
4.0 KiB
YAML
name: micro-ros-agent
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base: core20
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version: git
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summary: Bridge between Micro ROS client applications and ROS 2
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description: |
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Micro-ROS, whose default implementation is based on eProsima's
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Micro XRCE-DDS middleware, is composed of client applications
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which interact with the ROS 2 world by means of an Agent.
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This agent keeps tracks of the entities created by means of
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requests performed on the microcontroller side, and uses them
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to communicate with the ROS 2 dataspace.
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Being an extension of the Micro XRCE-DDS Agent, the micro-ROS
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agent supports being run by the user like this:
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$ micro-ros-agent --help
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In addition, the Agent supports running as a service that can be
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enabled with:
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$ snap set micro-ros-agent daemon=true
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If the service is enabled, by default it uses the `udp4` transport on
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port 8888. The following parameters can be changed (these are
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specific to the service, the `micro-ros-agent` command simply
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takes command-line arguments, but the capabilities are the same):
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* `transport`. Supported transports are `udp4`, `udp6`, `tcp4`,
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`tcp6`, `serial`, and `pseudoterminal`. Default is `udp4`. Change
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with:
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$ snap set micro-ros-agent transport="new transport"
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* `middleware`. Supported kinds of middleware are `ced`, `rtps`, and
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`dds`. Default is `dds`. Change with:
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$ snap set micro-ros-agent middleware="new middleware"
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* `verbosity`. Supported verbosity levels are 0-6, defaulting to 4.
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Change with:
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$ snap set micro-ros-agent verbosity="selected verbosity"
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* `discovery`. Enable or disable the discovery server. Defaults to
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"false". Change with:
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$ snap set micro-ros-agent discovery="true or false"
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* `discovery-port`. Port on which the discovery server (see above)
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listens. Defaults to 7400. Change with:
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$ snap set micro-ros-agent discovery-port="selected port"
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* `p2p-port`. Port to use for the P2P profile. Change with:
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$ snap set micro-ros-agent p2p-port="selected port"
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* `port`. Port on which the agent listens. Only applicable to one of
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the UDP or TCP transports (see above). Defaults to 8888. Change with:
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$ snap set micro-ros-agent port="selected port"
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* `baudrate`. Baud rate to use when accessing serial ports. Only
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applicable when using the `serial` or `pseudoterminal` transport.
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Defaults to 115200. Change with:
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$ snap set micro-ros-agent baudrate="baud rate"
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* `device`. The serial device to use. Only applicable when using the
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`serial` or `pseudoterminal` transport. Change with:
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$ snap set micro-ros-agent device="device path"
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grade: stable
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confinement: strict
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architectures:
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- build-on: amd64
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- build-on: arm64
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- build-on: armhf
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- build-on: ppc64el
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parts:
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uros-agent:
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plugin: colcon
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source: .
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override-build: |
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git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
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git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
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. /opt/ros/$ROS_DISTRO/setup.sh
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colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args '-DUAGENT_CLI_PROFILE=OFF -DUAGENT_BUILD_EXECUTABLE=OFF' --packages-up-to micro_ros_agent
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build-packages: [make, gcc, g++]
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stage-packages: [ros-foxy-ros2launch]
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runner:
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plugin: dump
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source: snap/local/
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organize:
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'*': usr/bin/
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apps:
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micro-ros-agent:
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command: lib/micro_ros_agent/micro_ros_agent
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environment:
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LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
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plugs: [network, network-bind, serial-port]
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extensions: [ros2-foxy]
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daemon:
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command: usr/bin/micro-ros-agent-daemon
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environment:
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LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
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daemon: simple
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plugs: [network, network-bind, serial-port]
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