porting issue addtwoints service

[usaotearoa]

Using teensy 4.1 with platformio in VSCode on Ubuntu 22.04

I have followed the tutorial: https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/

Now I'm trying to expand this for the "micro-ros_addtwoints_servcie". However I'm having issue understanding how to port this over. I do understand this example comes from the pure "arduino" microROS side and there are a few differences. But what I lack is the understanding how this could be ported over.

Currently it already hangs at the point where I

include <example_interfaces/srv/add_two_ints.h>

Please help me understand how I can port this over. Once I have a working example I will update the github repo, and add this add_two_ints so others can also benefit.

Thanks

[usaotearoa]

Do I maybe have to use the https://github.com/micro-ROS/micro-ROS-demos/tree/foxy/rclc/addtwoints_server)/main.c and port that over to platformio?

How would I do that?

[usaotearoa]

Another question is, Do I need to do anything in terms of FreeRTOS, when going the approach of using micro-ROS with the teensy under platformio on Ubuntu? Or is this all handled in the background?

[pablogs9]

Currently it already hangs at the point where I

include <example_interfaces/srv/add_two_ints.h>

Which is the error? As far as I see, you have this file here.

Do I need to do anything in terms of FreeRTOS, when going the approach of using micro-ROS with the teensy under platformio on Ubuntu? Or is this all handled in the background?

Arduino + Teensy port of micro-ROS does not use FreeRTOS. It's a bare metal approach.

[usaotearoa]

I'm trying to port parts from micro_ros_arduino/tree/humble/examples)/micro-ros_addtwoints_service/ to work with the Teensy 4.1 in PlatformIO

However I'm facing issues with it along the way.

The problem is with the following line of code // create service // Get message type support const rosidl_message_type_support_t * type_support = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts); It doesn't know ROSIDL_GET_SRV_TYPE_SUPPORT

Here is the entire source code main.cpp: `#include

include

include <rcl/rcl.h>

include <rclc/rclc.h>

include <rclc/executor.h>

include <std_msgs/msg/int32.h>

include <std_msgs/msg/int64.h>

//#include <example_interfaces/srv/add_two_ints.h>

if !defined(MICRO_ROS_TRANSPORT_ARDUINO_SERIAL)

error This example is only avaliable for Arduino framework with serial transport.

endif

// Publisher object rcl_publisher_t publisher; std_msgsmsgInt32 msg;

// Service server object rcl_service_t service; const char * service_name = "/addtwoints";

// define rclc executor rclc_executor_t executor;

// support object rclc_support_t support;

// micro-ROS allocator object rcl_allocator_t allocator;

// create node object rcl_node_t node; // Create and initialize timer object rcl_timer_t timer;

define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}

define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

// Error handle loop void error_loop() { while(1) { delay(100); } }

void timer_callback(rcl_timer_t * timer, int64_t last_call_time) { RCLC_UNUSED(last_call_time); if (timer != NULL) { RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); msg.data++; } }

void setup() { // Configure serial transport Serial.begin(115200); set_microros_serial_transports(Serial); delay(2000);

// Initialize micro-ROS allocator allocator = rcl_get_default_allocator();

//create init_options RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node RCCHECK(rclc_node_init_default(&node, "micro_ros_platformio_node", "", &support));

// create publisher RCCHECK(rclc_publisher_init_default(&publisher,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),"micro_ros_platformio_node_publisher"));

// create service // Get message type support const rosidl_message_type_support_t * type_support = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);

// create timer, const unsigned int timer_timeout = 1000;

// Initialize support object RCCHECK(rclc_timer_init_default(&timer,&support,RCL_MS_TO_NS(timer_timeout),timer_callback));

// create executor RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator)); RCCHECK(rclc_executor_add_timer(&executor, &timer));

msg.data = 0; }

void loop() { delay(100); RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100))); }`

And also here is my "platformio.ini" `[env:teensy41] platform = teensy board = teensy41 framework = arduino board_microros_transport = serial

lib_deps = https://github.com/micro-ROS/micro_ros_platformio`

Any suggestion, why that line is not recognized? What am I missing here?

[pablogs9]

Hello, I'm closing this since you have opened multiple issues with the same problem: https://github.com/micro-ROS/micro_ros_platformio/issues/68

Please try to be patient and open only one issue. If you need to ping us, please use the Slack channel. As we mention in the other issue, example_interfaces package shall be added to PlatformIO