Change cp command to use -rfL option

.github/workflows/ci.yml

@@ -13,7 +13,7 @@ jobs:
       fail-fast: false
       matrix:
         idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
-        idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
+        idf_version: [ "espressif/idf:release-v5.2" ]
         exclude:
           # Skip IDF v4 + ESP32C6 combination
           - idf_target: esp32c6
@@ -112,4 +112,4 @@ jobs:
           make -f libmicroros.mk clean
           cd examples/int32_publisher_embeddedrtps
           idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
+          idf.py build

.github/workflows/nightly.yml

@@ -14,13 +14,18 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        branch: [rolling, jazzy, humble]
+        branch: [rolling, kilted, jazzy, humble]
         idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
         idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
         exclude:
           # Skip IDF v4 + ESP32C6 combination
           - idf_target: esp32c6
             idf_version: espressif/idf:release-v4.4
+          # Skip IDF v4 for rolling and kilted
+          - branch: rolling
+            idf_version: espressif/idf:release-v4.4
+          - branch: kilted
+            idf_version: espressif/idf:release-v4.4
 
 
     container:

README.md

@@ -3,7 +3,9 @@
 
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
+This component has been tested in ESP-IDF v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
+
+_Note: ESP-IDF v4.4 is supported only in ROS 2 Humble and Jazzy due to Python version incompatibilities._
 
 ## Dependencies
 
@@ -53,18 +55,34 @@ Is possible to use a micro-ROS Agent just with this docker command:
 
 ```bash
 # UDPv4 micro-ROS Agent
-docker run -it --rm --net=host microros/micro-ros-agent:foxy udp4 --port 8888 -v6
+docker run -it --rm --net=host microros/micro-ros-agent:kilted udp4 --port 8888 -v6
 ```
 
 ## Build with docker container
 
-It's possible to build this example application using preconfigured docker container. Execute this line to build an example app using docker container:
+It's possible to build this example application using the official Espressif [docker images](https://hub.docker.com/r/espressif/idf), following the same steps:
 
 ```bash
-docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v  $(pwd):/micro_ros_espidf_component -v  /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash  -c "cd examples/int32_publisher; idf.py menuconfig build flash monitor"
-```
+docker pull espressif/idf:release-v5.2
+# Run ESP-IDF container
+docker run --name micro-ros-espidf-component-test -it espressif/idf:release-v5.2 bash
 
-Dockerfile for this container is provided in the ./docker directory and available in dockerhub. This approach uses ESP-IDF v5.
+git clone https://github.com/micro-ROS/micro_ros_espidf_component.git
+cd micro_ros_espidf_component/
+
+# Install dependencies
+pip3 install catkin_pkg lark-parser colcon-common-extensions
+
+$IDF_PATH/export.sh
+cd examples/int32_publisher
+# Set target board [esp32|esp32s2|esp32s3|esp32c3]
+idf.py set-target esp32
+idf.py menuconfig
+# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
+idf.py build
+idf.py flash
+idf.py monitor
+```
 
 ## Using serial transport
 
@@ -90,7 +108,7 @@ Is possible to use a micro-ROS Agent just with this docker command:
 
 ```bash
 # Serial micro-ROS Agent
-docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6
+docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:kilted serial --dev [YOUR BOARD PORT] -v6
 ```
 
 ## Purpose of the Project

examples/handle_static_types/main/main.c

@@ -73,11 +73,12 @@ void micro_ros_task(void * arg)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor;

examples/int32_publisher/main/main.c

@@ -67,11 +67,12 @@ void micro_ros_task(void * arg)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor;

examples/int32_publisher_custom_transport/main/main.c

@@ -55,11 +55,12 @@ void micro_ros_task(void * arg)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor;

examples/int32_publisher_embeddedrtps/main/main.c

@@ -55,11 +55,12 @@ void micro_ros_task(void * arg)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor;

examples/int32_sub_pub/main/main.c

@@ -82,11 +82,12 @@ void micro_ros_task(void * arg)
 	// Create timer.
 	rcl_timer_t timer = rcl_get_zero_initialized_timer();
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// Create executor.
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();

examples/low_consumption/main/main.c

@@ -83,11 +83,12 @@ void micro_ros_task(void * arg)
 	// create timer,
 	rcl_timer_t timer;
 	const unsigned int timer_timeout = 1000;
-	RCCHECK(rclc_timer_init_default(
+	RCCHECK(rclc_timer_init_default2(
 		&timer,
 		&support,
 		RCL_MS_TO_NS(timer_timeout),
-		timer_callback));
+		timer_callback,
+		true));
 
 	// create executor
 	rclc_executor_t executor;

examples/parameters/main/main.c

@@ -1,18 +1,19 @@
-#include <string.h>
 #include <stdio.h>
+#include <string.h>
 #include <unistd.h>
 
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
 #include "esp_log.h"
 #include "esp_system.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 
-#include <uros_network_interfaces.h>
-#include <rcl/rcl.h>
 #include <rcl/error_handling.h>
-#include <rclc/rclc.h>
+#include <rcl/rcl.h>
 #include <rclc/executor.h>
+#include <rclc/rclc.h>
 #include <rclc_parameter/rclc_parameter.h>
+#include <uros_network_interfaces.h>
+#include <uxr/client/config.h>
 
 #include <rmw_microros/rmw_microros.h>
 #include <uxr/client/config.h>
@@ -27,30 +28,31 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
     (void) timer;
     (void) last_call_time;
 
-    int value;
+    int64_t value;
     rclc_parameter_get_int(&param_server, "param2", &value);
     value++;
-    rclc_parameter_set_int(&param_server, "param2", (int64_t) value);
+    rclc_parameter_set_int(&param_server, "param2", value);
 }
 
-void on_parameter_changed(Parameter * param)
-{
-    printf("Parameter %s modified.", param->name.data);
-    switch (param->value.type)
+bool on_parameter_changed(const Parameter *old_param, const Parameter *new_param, void *context)
+    {
+    printf("Parameter %s modified.", new_param->name.data);
+    switch (new_param->value.type)
     {
     case RCLC_PARAMETER_BOOL:
-        printf(" New value: %d (bool)", param->value.bool_value);
+        printf(" New value: %d (bool)", new_param->value.bool_value);
         break;
     case RCLC_PARAMETER_INT:
-        printf(" New value: %lld (int)", param->value.integer_value);
+        printf(" New value: %lld (int)", new_param->value.integer_value);
         break;
     case RCLC_PARAMETER_DOUBLE:
-        printf(" New value: %f (double)", param->value.double_value);
+        printf(" New value: %f (double)", new_param->value.double_value);
         break;
     default:
         break;
     }
     printf("\n");
+    return true;
 }
 
 void micro_ros_task(void * arg)
@@ -79,15 +81,16 @@ void micro_ros_task(void * arg)
 
     // create timer,
     rcl_timer_t timer;
-    rclc_timer_init_default(
+    rclc_timer_init_default2(
         &timer,
         &support,
         RCL_MS_TO_NS(1000),
-        timer_callback);
+        timer_callback,
+        true);
 
     // Create executor
     rclc_executor_t executor;
-    rclc_executor_init(&executor, &support.context, RCLC_PARAMETER_EXECUTOR_HANDLES_NUMBER + 1, &allocator);
+    rclc_executor_init(&executor, &support.context, RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES + 1, &allocator);
     rclc_executor_add_parameter_server(&executor, &param_server, on_parameter_changed);
     rclc_executor_add_timer(&executor, &timer);
 
@@ -101,7 +104,7 @@ void micro_ros_task(void * arg)
     rclc_parameter_set_double(&param_server, "param3", 0.01);
 
     bool param1;
-    int param2;
+    int64_t param2;
     double param3;
 
     rclc_parameter_get_bool(&param_server, "param1", &param1);

examples/ping_pong/main/main.c

@@ -131,9 +131,10 @@ void micro_ros_task(void * arg)
 		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong"));
 
 
-	// Create a 3 seconds ping timer timer,
+	// Create a 2 seconds ping timer timer,
 	rcl_timer_t timer;
-	RCCHECK(rclc_timer_init_default(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback));
+	RCCHECK(rclc_timer_init_default2(&timer, &support, RCL_MS_TO_NS(2000),
+		ping_timer_callback, true));
 
 
 	// Create executor

libmicroros.mk

@@ -37,13 +37,14 @@ $(EXTENSIONS_DIR)/esp32_toolchain.cmake: $(EXTENSIONS_DIR)/esp32_toolchain.cmake
 $(EXTENSIONS_DIR)/micro_ros_dev/install:
 	rm -rf micro_ros_dev; \
 	mkdir micro_ros_dev; cd micro_ros_dev; \
-	git clone -b rolling https://github.com/ament/ament_cmake src/ament_cmake; \
-	git clone -b rolling https://github.com/ament/ament_lint src/ament_lint; \
-	git clone -b rolling https://github.com/ament/ament_package src/ament_package; \
-	git clone -b rolling https://github.com/ament/googletest src/googletest; \
-	git clone -b rolling https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
-	git clone -b rolling https://github.com/ament/ament_index src/ament_index; \
+	git clone -b kilted https://github.com/ament/ament_cmake src/ament_cmake; \
+	git clone -b kilted https://github.com/ament/ament_lint src/ament_lint; \
+	git clone -b kilted https://github.com/ament/ament_package src/ament_package; \
+	git clone -b kilted https://github.com/ament/googletest src/googletest; \
+	git clone -b kilted https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
+	git clone -b kilted https://github.com/ament/ament_index src/ament_index; \
 	touch src/ament_cmake_ros/rmw_test_fixture_implementation/COLCON_IGNORE; \
+	touch src/ament_cmake_ros/rmw_test_fixture/COLCON_IGNORE; \
 	colcon build --cmake-args -DBUILD_TESTING=OFF -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=gcc;
 
 $(EXTENSIONS_DIR)/micro_ros_src/src:
@@ -54,37 +55,37 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
 		git clone -b main https://github.com/micro-ROS/rmw_embeddedrtps src/rmw_embeddedrtps; \
 	else \
 		git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
-		git clone -b rolling https://github.com/micro-ROS/rmw_microxrcedds src/rmw_microxrcedds; \
+		git clone -b kilted https://github.com/micro-ROS/rmw_microxrcedds src/rmw_microxrcedds; \
 	fi; \
 	git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
-	git clone -b rolling https://github.com/micro-ROS/rcl src/rcl; \
-	git clone -b rolling https://github.com/ros2/rclc src/rclc; \
-	git clone -b rolling https://github.com/micro-ROS/rcutils src/rcutils; \
-	git clone -b rolling https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
-	git clone -b rolling https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
-	git clone -b rolling https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
-	git clone -b rolling https://github.com/ros2/rosidl src/rosidl; \
-	git clone -b rolling https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport; \
-	git clone -b rolling https://github.com/ros2/rmw src/rmw; \
-	git clone -b rolling https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
-	git clone -b rolling https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
-	git clone -b rolling https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
-	git clone -b rolling https://github.com/ros2/common_interfaces src/common_interfaces; \
-	git clone -b rolling https://github.com/ros2/example_interfaces src/example_interfaces; \
-	git clone -b rolling https://github.com/ros2/test_interface_files src/test_interface_files; \
-	git clone -b rolling https://github.com/ros2/rmw_implementation src/rmw_implementation; \
-	git clone -b rolling https://github.com/ros2/rcl_logging src/rcl_logging; \
-	git clone -b rolling https://github.com/ros2/ros2_tracing src/ros2_tracing; \
-	git clone -b rolling https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
-	git clone -b rolling https://github.com/ros2/rosidl_core src/rosidl_core; \
+	git clone -b kilted https://github.com/micro-ROS/rcl src/rcl; \
+	git clone -b kilted https://github.com/ros2/rclc src/rclc; \
+	git clone -b kilted https://github.com/micro-ROS/rcutils src/rcutils; \
+	git clone -b kilted https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
+	git clone -b kilted https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
+	git clone -b kilted https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
+	git clone -b kilted https://github.com/ros2/rosidl src/rosidl; \
+	git clone -b kilted https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport; \
+	git clone -b kilted https://github.com/ros2/rmw src/rmw; \
+	git clone -b kilted https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
+	git clone -b kilted https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
+	git clone -b kilted https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
+	git clone -b kilted https://github.com/ros2/common_interfaces src/common_interfaces; \
+	git clone -b kilted https://github.com/ros2/example_interfaces src/example_interfaces; \
+	git clone -b kilted https://github.com/ros2/test_interface_files src/test_interface_files; \
+	git clone -b kilted https://github.com/ros2/rmw_implementation src/rmw_implementation; \
+	git clone -b kilted https://github.com/ros2/rcl_logging src/rcl_logging; \
+	git clone -b kilted https://github.com/ros2/ros2_tracing src/ros2_tracing; \
+	git clone -b kilted https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
+	git clone -b kilted https://github.com/ros2/rosidl_core src/rosidl_core; \
     touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
     touch src/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE; \
     touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
     touch src/rclc/rclc_examples/COLCON_IGNORE; \
 	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
 	touch src/ros2_tracing/test_tracetools/COLCON_IGNORE; \
 	touch src/ros2_tracing/lttngpy/COLCON_IGNORE; \
-	cp -rf $(EXTRA_ROS_PACKAGES) src/extra_packages || :; \
+	cp -rfL $(EXTRA_ROS_PACKAGES) src/extra_packages || :; \
 	test -f src/extra_packages/extra_packages.repos && cd src/extra_packages && vcs import --input extra_packages.repos || :;
 
 

package.xml

@@ -4,6 +4,7 @@
   <name>micro_ros_espidf</name>
   <version>6.0.0</version>
   <description>micro-ROS tools for Espressif ESP-IDF</description>
-  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
+  <maintainer email="carlosespinoza@eprosima.com">Carlos Espinoza</maintainer>
   <license>Apache License 2.0</license>
 </package>