[Here](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/galactic/sample_main.c) you have some demo code. Just use it in your main application.

[elgarbe]

Here you have some demo code. Just use it in your main application.

Do not hesitate to reopen if you have any problem.

_Originally posted by @pablogs9 in https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/16#issuecomment-894968443_

Hi, I can't reopen this issue, maybe you can give a day or so after close an issue. Ok for uC code. But, what about agent part? do I need to create/modify app-colcon.meta file? I mean, this tutorial: https://micro.ros.org//docs/tutorials/core/first_application_rtos/freertos/ talks about app.c ans app-colcon.meta. But I'm nos sure how to combine those steps with cubemxIDE.

[pablogs9]

Those steps are not required for micro_ros_stm32cubemx_utils. The steps are for micro-ROS build system and you are using a external build system. Just build and flash the CubeIDE project and run a micro-ROS Agent using, for example, the dockerized version:

docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:galactic serial --dev [YOUR BOARD PORT] -v6

or

docker run -it --rm --net=host microros/micro-ros-agent:galactic udp4 --port 8888 -v6

[elgarbe]

Ok, thank, understand now.