Merge pull request #40 from mROS-base/support_esp32

Please welcome mros2-esp32 as a new supported platform 🎉

Author: takasehideki

.gitignore

@@ -1 +1 @@
-__pycache__/
+__pycache__/

README.md

@@ -5,27 +5,29 @@ It consists of basic APIs for pub/sub communication, RTPS protocol, UDP/IP stack
 Embedded nodes can now communicate directly with native ROS 2 nodes via topic!
 
 This repository maintains the communication layer of mROS 2, that mainly offers pub/sub APIs compatible with [rclcpp](https://docs.ros2.org/dashing/api/rclcpp/index.html) for embedded devices. 
-[ROS 2](https://docs.ros.org/en/dashing/) is a de-fact platform for the robot system development, and provides pub/sub communication infrastructure with the DDS/RTPS protocol.
+[ROS 2](https://docs.ros.org/en/dashing/) is a de-fact platform for the robot system development and provides pub/sub communication infrastructure with the DDS/RTPS protocol.
 
 ## Features
 
-- **Agent-less**: a node on mROS 2 autonomously discovers communication nodes on the host with the feature of [embeddedRTPS](https://github.com/mROS-base/embeddedRTPS). It means no agent/bridge is required for pub/sub communication from the embedded devices.
-  - mros2 currently uses [embeddedRTPS @ 1410a87](https://github.com/mROS-base/embeddedRTPS/tree/1410a8776660244249a84031ffa78c9bdaa45e19) as it is.
+- **Agent-less**: A node on mROS 2 autonomously discovers communication nodes on the host. No agent/bridge is required for pub/sub communication from the embedded devices.
+  - mros2 adopts [embeddedRTPS](https://github.com/mROS-base/embeddedRTPS) with some modifications. 
 - **Lightweight**: mROS 2 APIs are implemented by C++ to be operated on the embedded devices. All software stacks are also implemented only in C/C++.
-- **Real-time**: mROS 2 employs the real-time kernel (e.g., [TOPPERS kernel](https://www.toppers.jp/en/project.html), [Mbed OS](https://os.mbed.com/mbed-os/)) as the runtime platform in order to enhance the real-time capability.
+- **Real-time**: mROS 2 uses the real-time kernel (e.g., [TOPPERS kernel](https://www.toppers.jp/en/project.html), [Mbed OS](https://os.mbed.com/mbed-os/)) as the runtime platform in order to enhance the real-time capability.
 
 ## Functionalities and limitations
 
-Here are functionalities that mROS 2 offers for you, and current limitations (a.k.a call for your contibutions!).
+Here are the functionalities that mROS 2 offers for you, and current limitations (a.k.a call for your contributions!).
 
 - Pub/Sub communication via Topic is supported
-  - [Built-in-types](https://docs.ros.org/en/foxy/Concepts/About-ROS-Interfaces.html#field-types) except for `wstring` (UTF-16)
-    - Please check [mros2-asp3-f767zi#exapmle-applications](https://github.com/mROS-base/mros2-asp3-f767zi#example-applications) for more details.
+  - [Built-in-types](https://docs.ros.org/en/foxy/Concepts/About-ROS-Interfaces.html#field-types)
+    - `wstring` (UTF-16) is not provided due to its difficulty in verification, but it is unlikely to be used.
     - `array` types are not supported
   - Some custom message types (e.g., Twist, Pose)
-    - We think variable-length types and types exceeding one packet cannot be handled, probably due to the limitation of lwIP.
+    - Please check [mros2-mbed#generating-header-files-for-custom-msgtypes](https://github.com/mROS-base/mros2-mbed#generating-header-files-for-custom-msgtypes) for more details.
+    - Fragmented message types (that exceed one packet) are experimentally supported. See [PR#36](https://github.com/mROS-base/mros2/pull/36) for more details.
+    - We think variable-length types cannot be handled, probably due to the limitation of lwIP.
 - Service, Actions, and Parameters are not supported
-  - Please let us know if you want to use them as soon as possible. We can consider of raising the priority of these supports.
+  - Please let us know if you want to use them as soon as possible. We can consider raising the priority of these supports.
 
 ## Supported platform
 
@@ -37,11 +39,12 @@ Please see each repository to learn how to use it.
 |:---|:---|:---|:---|
 | [mros2-asp3-f767zi](https://github.com/mROS-base/mros2-asp3-f767zi) | [TOPPERS/ASP3](https://www.toppers.jp/en/project.html) | [STM32 NUCLEO-F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f767zi.html) | currently supported up to v0.3.2 (see [status](https://github.com/mROS-base/mros2-asp3-f767zi/issues/74)) |
 | [mros2-mbed](https://github.com/mROS-base/mros2-mbed) | [Mbed OS 6](https://github.com/ARMmbed/mbed-os) | Mbed enabled boards having an Ethernet port (See [detail](https://github.com/mROS-base/mros2-mbed#supported-environment)) | well maintained and easy to try |
+| [mros2-esp32](https://github.com/mROS-base/mros2-esp32) | [ESP-IDF FreeRTOS](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/freertos_idf.html) | ESP32 boards with 2.4 GHz Wi-Fi (See [detail](https://github.com/mROS-base/mros2-esp32#supported-environment)) | well maintained |
 | [mros2-posix](https://github.com/mROS-base/mros2-posix) | POSIX (pthread) | any machine that runs Linux | partly maintained |
 
-Please let us know if you have a request for a support of board/kernel, or if you could implement this layer on another platform.
+Please let us know if you have a request for support for other boards/kernels, or if you could implement this layer on other platforms.
 
 ## License
 
 The source code of this repository itself is published under [Apache License 2.0](https://github.com/mROS-base/mros2/blob/main/LICENSE).  
-Please note that this repository contains [embeddedRTPS and its third party libraries](https://github.com/mROS-base/embeddedRTPS#third-party-libraries) as the submodule, and also check their Licenses.
+Please note that this repository contains [embeddedRTPS and its third-party libraries](https://github.com/mROS-base/embeddedRTPS#third-party-libraries) as the submodule, and also check their Licenses.

embeddedRTPS

@@ -1,3 +1,8 @@
+/* 
+ * This file was automatically generated by generate_templates.py 
+ * as one of mros2 features. You do not need to modify this. 
+ */
+ 
 {%- for includeFile in includeFiles %}
 {{includeFile}}
 {%- endfor %}

mros2_header_generator/templates.tpl

@@ -1,6 +1,7 @@
 import os
 import sys
 import re
+from os import path
 from jinja2 import Environment, FileSystemLoader
 
 arg = sys.argv
@@ -37,13 +38,11 @@ def main():
                 includeFile = '#include "' + includeFile + '.hpp"'
                 includeFiles.append(includeFile)
 
-                
-    env = Environment(loader=FileSystemLoader('../mros2/mros2_header_generator'))
+    env = Environment(loader=FileSystemLoader(path.dirname(__file__)))
     template = env.get_template('templates.tpl')
     datatext = template.render({ "includeFiles":includeFiles, "pubMsgTypes":pubMsgTypes, "subMsgTypes":subMsgTypes  })
     with open(os.path.join(app+"/templates.hpp"), "wb") as f:
         f.write(datatext.encode('utf-8'))
 
-
 if __name__ == "__main__":
     main()