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Since I posted here last, we've setup a micro-ROS build / development environment on Windows. This also targets a non-Windows target.
Summarising: if you have a toolchain which you can tell CMake about, building micro-ROS is basically like any other CMake project which you cross-compile. Make sure to invoke colcon with --cmake-args [..] -DCMAKE_TOOLCHAIN_FILE:FILEPATH=C:\path\to\your\toolchain_file.cmake.
Nothing else is needed, except a Python 3 venv which contains the required Colcon python packages. The list of those can be found in the "Setting up a Windows development environment for ROS 2". Note: as you already have a toolchain, you do not need MSVC, or any of the related tools. You do need: Python 3, CMake, Git and I would recommend using Ninja.
At this point you should be able to build a simple "ROS 2 package" with Colcon and your toolchain. Building micro-ROS now comes down to which version of micro-ROS and which packages to include.
If you have any specific questions, let me know.
If/when I have more time, I might expand this into a better answer.
| | 2 | No.2 Revision |
Since I posted here last, we've setup a micro-ROS build / development environment on Windows. This also targets a non-Windows target.
Summarising: if you have a toolchain which you can tell CMake about, building micro-ROS is basically like any other CMake project which you cross-compile. Make sure to invoke colcon with --cmake-args [..] -DCMAKE_TOOLCHAIN_FILE:FILEPATH=C:\path\to\your\toolchain_file.cmake.
Nothing else is needed, except a Python 3 venv which contains the required Colcon python packages. The list of those can be found in the "Setting up a Windows development environment for ROS 2". Note: as you already have a toolchain, you do not need MSVC, or any of the related tools. You do need: Python 3, CMake, Git and I would recommend using Ninja.
At this point you should be able to build a simple "ROS 2 package" with Colcon and your toolchain. Building micro-ROS now comes down to which version of micro-ROS and which packages to include.
If you have any specific questions, let me know.
If/when I have more time, I might expand this into a better answer.
If you can't drive your compiler/build using CMake, things get a little more complex.
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