Fix Foxy Firmware and Integrate with CI

[atticusrussell]

This fixes the issues with building ROS Foxy firmware, encountered in issue #35 and adds CI to the branch to prove it and integrates with the CI in PR #45, which can be read for details on the CI implementation.

• Revert "revert back to micro_ros_arduino for foxy branch"
• Add CI firmware building to foxy branch
• Specify micro_ros_platformio as version with foxy support
• add micro_ros_utilities as lib_dep
• manually add typesupport library

[grassjelly]

could we pull the type support library somewhere instead?

[atticusrussell]

could we pull the type support library somewhere instead?

I'll look into it

[grassjelly]

I'm okay to fork the specific commit on a separate repo, just let me know which one. Thanks!

[atticusrussell]

I'm okay to fork the specific commit on a separate repo, just let me know which one. Thanks!

It looks like it may be this folder in the rosidl repo, but I made that commit a month ago and the changelogs are different, so will have to verify: https://github.com/ros2/rosidl/tree/rolling/rosidl_typesupport_introspection_c

If I recall correctly, I think I just copied the source because I didn't wish to build all the folders in the rosidl repo, which I believe happened when I added that repo as a libdep. Not 100% confident in that recollection though.

Maybe fork that repo, naming yours rosidl_typesupport_introspection_c and delete all other modules in it and move the contents of the rosidl_typesupport_introspection_c directory to the repo root?

[grassjelly]

that could work, and just link it to that forked repo as libdep something like this https://github.com/linorobot/linorobot2_hardware/blob/galactic/firmware/platformio.ini#L17

[atticusrussell]

Yeah. Also I realized why the changelogs are different: I copied the code from their foxy branch but was looking at rolling.

In the linorobot/rosidl_typesupport_introspection_c fork of ros2/rosidl it might make sense to fork all branches (for future needs), and then we can just specify the desired branch in the libdep section of platformio.ini

[atticusrussell]

@grassjelly I got it working. If you want to fork my fork using the linorobot GitHub organization (all branches, but FYI my modifications are on foxy-tsic-only), I'll point the libdep there and merge the change here

[grassjelly]

here's the fork https://github.com/linorobot/rosidl_typesupport_introspection_c

[atticusrussell]

Done! :tada:

[atticusrussell]

@grassjelly this should be good to be merged!

[grassjelly]

thanks @atticusrussell