ESP32 build errors

[samuk]

Appreciate ESP32 is not officially supported.

Using https://github.com/rosmo-robot/linorobot2_hardware

I get this error I can't figure out:

/home/ubuntu/.platformio/packages/toolchain-xtensa-esp32/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: /home/ubuntu/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/lib/libnewlib.a(time.c.obj): in function clock_gettime': /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/newlib/time.c:252: multiple definition ofclock_gettime'; .pio/build/default/libedc/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o:/home/ubuntu/linorobot2_hardware/firmware/.pio/libdeps/default/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp:7: first defined here

collect2: error: ld returned 1 exit status *** [.pio/build/default/firmware.elf] Error 1

[pablogs9]

clock_gettime is being defined here since it is a POSIX function that is not normally available in the embedded targets.

If your platform is providing it you should remove this micro-ROS implementation. If you solve it using some kind of conditional compilation based on #ifdef please contribute with a PR to the micro-ROS for PlatformIO repo.

[pablogs9]

In any case, I have tried to replicate:

git clone -b galactic https://github.com/linorobot/linorobot2_hardware
cd linorobot2_hardware/firmware
pio run --target upload -e ESP32

and I get some compilation errors on this proyect:

In file included from lib/imu/MPU9250.cpp:37:
lib/imu/MPU9250.h:60:24: error: conflicting declaration 'typedef int8_t prog_int8_t'
         typedef int8_t prog_int8_t;
                        ^~~~~~~~~~~
In file included from /root/.platformio/packages/framework-arduinoespressif32/cores/esp32/WString.h:29,
                 from /root/.platformio/packages/framework-arduinoespressif32/cores/esp32/Arduino.h:165,
                 from lib/imu/I2Cdev.h:91,
                 from lib/imu/MPU9250.h:40,
                 from lib/imu/MPU9250.cpp:37:
/root/.platformio/packages/framework-arduinoespressif32/cores/esp32/pgmspace.h:25:14: note: previous declaration as 'typedef char prog_int8_t'
 typedef char prog_int8_t;
              ^~~~~~~~~~~
In file included from lib/imu/MPU9250.cpp:37:
lib/imu/MPU9250.h:64:25: error: conflicting declaration 'typedef int32_t prog_int32_t'
         typedef int32_t prog_int32_t;
                         ^~~~~~~~~~~~
In file included from /root/.platformio/packages/framework-arduinoespressif32/cores/esp32/WString.h:29,
                 from /root/.platformio/packages/framework-arduinoespressif32/cores/esp32/Arduino.h:165,
                 from lib/imu/I2Cdev.h:91,
                 from lib/imu/MPU9250.h:40,
                 from lib/imu/MPU9250.cpp:37:
/root/.platformio/packages/framework-arduinoespressif32/cores/esp32/pgmspace.h:29:14: note: previous declaration as 'typedef long int prog_int32_t'
 typedef long prog_int32_t;
              ^~~~~~~~~~~~
In file included from lib/imu/MPU9250.cpp:37:
lib/imu/MPU9250.h:65:26: error: conflicting declaration 'typedef uint32_t prog_uint32_t'
         typedef uint32_t prog_uint32_t;
                          ^~~~~~~~~~~~~
In file included from /root/.platformio/packages/framework-arduinoespressif32/cores/esp32/WString.h:29,
                 from /root/.platformio/packages/framework-arduinoespressif32/cores/esp32/Arduino.h:165,
                 from lib/imu/I2Cdev.h:91,
                 from lib/imu/MPU9250.h:40,
                 from lib/imu/MPU9250.cpp:37:
/root/.platformio/packages/framework-arduinoespressif32/cores/esp32/pgmspace.h:30:23: note: previous declaration as 'typedef long unsigned int prog_uint32_t'
 typedef unsigned long prog_uint32_t;

I guess that there are some configuration steps previous to the build step. So, could you provide some replication steps?

[pablogs9]

Check this branch and let me know if this solves the issue: https://github.com/micro-ROS/micro_ros_platformio/pull/48

[samuk]

Great thanks that worked.

Linking .pio/build/default/firmware.elf Retrieving maximum program size .pio/build/default/firmware.elf Checking size .pio/build/default/firmware.elf Advanced Memory Usage is available via "PlatformIO Home > Project Inspect" RAM: [= ] 13.4% (used 43772 bytes from 327680 bytes) Flash: [=== ] 29.3% (used 383489 bytes from 1310720 bytes) Building .pio/build/default/firmware.bin esptool.py v3.3 Creating esp32 image... Merged 2 ELF sections Successfully created esp32 image.

You'd need to use my fork to get it to compile: git clone -b galactic https://github.com/rosmo-robot/linorobot2_hardware