diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index fe551ac0..787a9b4f 100755 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -14,7 +14,7 @@ jobs: strategy: fail-fast: false matrix: - platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_rolling, teensy41_custom, pico] + platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_kilted, portenta_h7_m7_rolling, teensy41_custom, pico] steps: - uses: actions/checkout@v3 diff --git a/README.md b/README.md index d78e173f..b3cdff3f 100755 --- a/README.md +++ b/README.md @@ -100,6 +100,7 @@ The target ROS 2 distribution can be configured with the `board_microros_distro - `humble` - `iron` - `jazzy` *(default value)* + - `kilted` - `rolling` ### Transport configuration diff --git a/ci/platformio.ini b/ci/platformio.ini index 9d5c5bff..54faf2bd 100644 --- a/ci/platformio.ini +++ b/ci/platformio.ini @@ -18,6 +18,16 @@ board_microros_distro = jazzy lib_deps = ../ +; Kilted test +[env:portenta_h7_m7_kilted] +platform = ststm32 +board = portenta_h7_m7 +framework = arduino +board_microros_transport = serial +board_microros_distro = kilted +lib_deps = + ../ + ; Rolling test [env:portenta_h7_m7_rolling] platform = ststm32 diff --git a/microros_utils/library_builder.py b/microros_utils/library_builder.py index a3e0122d..d1bda806 100644 --- a/microros_utils/library_builder.py +++ b/microros_utils/library_builder.py @@ -99,7 +99,7 @@ def build_dev_environment(self): # Fix build: Ignore rmw_test_fixture_implementation in rolling touch_command = '' - if self.distro == 'rolling': + if self.distro in ('rolling', 'kilted'): touch_command = 'touch src/ament_cmake_ros/rmw_test_fixture_implementation/COLCON_IGNORE && ' command = "cd {} && {} . {} && colcon build --cmake-args -DBUILD_TESTING=OFF -DPython3_EXECUTABLE=`which python`".format(self.dev_folder, touch_command, self.python_env) diff --git a/microros_utils/repositories.py b/microros_utils/repositories.py index f5d5222c..bb7b0ac4 100644 --- a/microros_utils/repositories.py +++ b/microros_utils/repositories.py @@ -99,6 +99,14 @@ class Sources: Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "jazzy"), Repository("ament_index", "https://github.com/ament/ament_index", "jazzy") ], + 'kilted': [ + Repository("ament_cmake", "https://github.com/ament/ament_cmake", "kilted"), + Repository("ament_lint", "https://github.com/ament/ament_lint", "kilted"), + Repository("ament_package", "https://github.com/ament/ament_package", "kilted"), + Repository("googletest", "https://github.com/ament/googletest", "kilted"), + Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "kilted"), + Repository("ament_index", "https://github.com/ament/ament_index", "kilted") + ], 'rolling': [ Repository("ament_cmake", "https://github.com/ament/ament_cmake", "rolling"), Repository("ament_lint", "https://github.com/ament/ament_lint", "rolling"), @@ -180,6 +188,30 @@ class Sources: Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "jazzy"), Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "jazzy"), ], + 'kilted': [ + Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "kilted", "ros2"), + Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "kilted", "ros2"), + Repository("rcl", "https://github.com/micro-ROS/rcl", "kilted"), + Repository("rclc", "https://github.com/ros2/rclc", "kilted"), + Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "kilted"), + Repository("rcutils", "https://github.com/micro-ROS/rcutils", "kilted"), + Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "kilted"), + Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "kilted"), + Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "kilted"), + Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "kilted"), + Repository("rosidl", "https://github.com/ros2/rosidl", "kilted"), + Repository("rosidl_dynamic_typesupport", "https://github.com/ros2/rosidl_dynamic_typesupport", "kilted"), + Repository("rosidl_core", "https://github.com/ros2/rosidl_core", "kilted"), + Repository("rmw", "https://github.com/ros2/rmw", "kilted"), + Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "kilted"), + Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "kilted"), + Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "kilted"), + Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "kilted"), + Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "kilted"), + Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "kilted"), + Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "kilted"), + Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "kilted"), + ], 'rolling': [ Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "rolling", "ros2"), Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "rolling", "ros2"), @@ -210,5 +242,6 @@ class Sources: 'humble': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'], 'iron': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'], 'jazzy': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples', 'lttngpy'], + 'kilted': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples', 'lttngpy', 'rmw_security_common'], 'rolling': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples', 'lttngpy', 'rmw_security_common'] }