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As part of requirements for the Quality Level 2, we have tested the rclc-package for ROS 2 Galactic on Windows 10.
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.
Asked: 2021-03-18 16:51:28 -0500
Seen: 824 times
Last updated: Feb 22 '23
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This is indeed not that straightforward. I don't have an answer right now, but I have asked the same question here on ROS Discourse.
Perhaps you could add your request as well?
I've started tracing the various scripts but haven't completely figured it out yet. In the end, it's mostly about creating a directory structure, cloning the ROS 2 sources, pruning the cloned repositories to contain only a compatible subset and adding some micro-ROS specific parts (which depending on the target, include some board-specific packages, or platform-specific support code (in the case of Arduino fi)).
It helped me to first follow the normal steps on a Linux machine (choose a non-generic/
amd64target).Old, but I'm still interested.
Do you want to be able to build Micro-ROS on Windows for a non-Windows target (my use-case), or build Micro-ROS on Windows for Windows (ie: run a Micro-ROS application on Windows)?
Again, old, but still interested. I want to build a micro-ROS app on Windows for a non-Windows target, specifically using micro ROS on an i.MXRT1062 microcontroller in MCUXpresso. Any suggestions?