ESP32 uROS ethernet netif bug

[TaVodic]

Compilation error of the uROS component using the Ethernet interface

• Hardware description: ESP32-Ethernet-Kit V1.2 with IP101GR
• RTOS: FreeRTOS
• Installation type: esp-idf component
• Version or commit hash: humble, ESP-IDF v5.0.4-246-g00d58a92dc

Steps to reproduce the issue

• micro-ROS installed as a component to ESP-IDF (using Visual Studio Code)
• Ethernet interface enabled and configured through menuconfig

#
# micro-ROS Settings
#
CONFIG_MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE=y
CONFIG_MICRO_ROS_ESP_NETIF_ENET=y

#
# Ethernet Configuration
#
CONFIG_MICRO_ROS_USE_INTERNAL_ETHERNET=y
CONFIG_MICRO_ROS_ETH_PHY_IP101=y
CONFIG_MICRO_ROS_ETH_MDC_GPIO=23
CONFIG_MICRO_ROS_ETH_MDIO_GPIO=18
CONFIG_MICRO_ROS_ETH_PHY_RST_GPIO=5
CONFIG_MICRO_ROS_ETH_PHY_ADDR=1
# end of Ethernet Configuration

CONFIG_MICRO_ROS_AGENT_IP="192.168.1.50"
CONFIG_MICRO_ROS_AGENT_PORT="8888"
# end of micro-ROS Settings

Issue

During compilation there were errors in file uros_ethernet_netif.c.

Solution (based on ESP32 ethernet_example_main.c )

• comment the esp_eth_set_default_handlers(eth_netif) function (because is not defined)
• create and use type eth_esp32_emac_config_t instead of eth_mac_config_t for defining MDC and MDIO pins

After these changes, uROS project using ethernet was working as expected with no compilation errors.