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Juan Flores MuñozFranFin
Juan Flores Muñoz
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FranFin
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#7995 Micro-ROS configuration NuttX tutorial (#140)
* Adding tutorial: add a new micro-ros config * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Update _docs/tutorials/advanced/nuttx/add_microros_config/index.md Co-Authored-By: FranFin <58737168+FranFin@users.noreply.github.com> * Changing disclamer point Co-authored-by: FranFin <58737168+FranFin@users.noreply.github.com>
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‎_data/docs.yml‎

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- tutorials/advanced/nuttx/debugging_gdb_openocd
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- tutorials/advanced/nuttx/debugging_vscode
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- tutorials/advanced/nuttx/microros_nuttx_bsp
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- tutorials/advanced/nuttx/add_microros_config
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- tutorials/advanced/nuttx/microros_6lowpan_tutorial
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- title: Advanced Tutorials with FreeRTOS

‎_docs/tutorials/advanced/nuttx/add_microros_config/images/nuttx_menuconfig.png‎

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‎_docs/tutorials/advanced/nuttx/add_microros_config/index.md‎

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---
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title: Micro-ROS configuration for NuttX
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permalink: /docs/tutorials/advanced/nuttx/add_microros_config/
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---
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| RTOS | ROS2 Version |
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|:-----:|:------------:|
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| NuttX | Dashing |
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In this tutorial, we will see how to set a basic Micro-ROS configuration for NuttX over serial communication. Since this guide is only focused on setting the configuration, you should check the tutorial linked here before: [Adding Micro-ROS to a NuttX board configuration](https://micro-ros.github.io/docs/tutorials/advanced/nuttx/microros_nuttx_bsp/)
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**Disclamer**
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This guide is not guarantee to work on every NuttX supported board, because each one has a different level of peripheral implementation and memory available.
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## Required hardware
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- Any NuttX supported board with at least these characteristics:
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- STM32 MCU.
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- RAM: 125 Kb.
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- Flash: 512 kb.
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- Serial communication peripheral.
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- USB-TTY serial cable.
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## Workspace set-up
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As a first thing, we're going to create a Micro-ROS workspace. To do so, we will execute the following commands on a console:
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```
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source /opt/ros/$ROS_DISTRO/setup.bash
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mkdir uros_ws && cd uros_ws
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git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-build
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rosdep update && rosdep install --from-path src --ignore-src -y
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colcon build
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source install/local_setup.bash
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```
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## Set the base configuration
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In this guide we will give Micro-ROS support for the [Olimex-STM32-H407 board](https://www.olimex.com/Products/ARM/ST/STM32-H407/open-source-hardware) as an example.
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This board is a simplified version of our supported Olimex-STM32-E407 board.
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In the previous console, execute the following commands to set the basic configuration:
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```bash
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ros2 run micro_ros_setup create_firmware_ws.sh nuttx olimex-stm32-h407
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ros2 run micro_ros_setup configure_firmware.sh nsh
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```
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If everything goes fine, it should output the message:
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```bash
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Copy files
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Refreshing...
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```
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Now the basic NSH configuration is set. With the steps that follow, we will set the required configuration to run Micro-ROS on this board.
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## Micro-ROS configuration.
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In the same console as before, run the commands:
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```bash
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cd firmware/NuttX
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make menuconfig
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```
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The menu below should appear:
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![](images/nuttx_menuconfig.png)
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Note: Remember that you should follow this previous tutorial before starting it. [Adding Micro-ROS to a NuttX board configuration](https://micro-ros.github.io/docs/tutorials/advanced/nuttx/microros_nuttx_bsp/)
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In the menu, you need to set the following configuration.
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- System Type > STM32 Peripheral Support > USART3
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- RTOS Features > Clocks and Timers > Support CLOCK_MONOTONIC
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- Device Drivers > Serial Driver Support > Serial TERMIOS support
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- Library Routines > Standard Math Library
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- Library Routines > sizeof(_Bool) is a 8-bits
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- Library Routines > Build uClibc++ (must be installed)
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- Application Configuration > micro-ROS
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- Application Configuration > micro-ROS > Transport > Serial Transport
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- Application Configuration > Examples > microROS Publisher
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Push two times the key "ESC" and set yes, when it asks you if you want to save it.
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Now the configuration is properly set, the only thing left is to compile it. To do so, continue in the same console and execute the commands:
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```
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cd ../..
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ros2 run micro_ros_setup build_firmware.sh
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```
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If everything goes fine, it should return the following output:
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```bash
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CP: nuttx.hex
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CP: nuttx.bin
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```

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