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micro-ROS Zephyr module and sample code

License: Apache License 2.0

CMake 15.41% C 56.74% Makefile 24.05% Shell 3.81%

zephyr micro-ros

micro_ros_zephyr_module's Introduction

micro-ROS module for Zephyr

This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2).

Dependencies

This component needs colcon and other Python 3 packages in order to build micro-ROS packages:

pip3 install catkin_pkg lark-parser empy colcon-common-extensions

Usage

For example for disco_l475_iot1 board:

west build -b disco_l475_iot1 micro_ros_zephyr_module

Some configuration parameters can be found using:

west build -t menuconfig
# Modules -> micro-ROS support

Is possible to use a micro-ROS Agent just with this docker command:

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

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:iron udp4 --port 8888 -v6

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

License

This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

There are no known limitations.

micro_ros_zephyr_module's People

Contributors

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denve adamheinrich ulipe popbam teamspatzenhirn john-vash jiangengdong mrdimfox ila-embsys jeskesen ddc-ndrs rosmo-robot spacecubics boston-engineering robottinker channgo2203 towen scrapforge raitzjm

micro_ros_zephyr_module's Issues

How does someone make use of this in a zephyr project?

How should someone add this module to their existing zephyr project?

Error : undefined reference to '__device_dts_ord_18'

Hai, I am trying to read ADC values for Nucleo-H743ZI board with Zephyr microROS.
But, while building the firmware an unknown error occurs.

I couldn't find any solution. So please advise me how to solve this problem.

Thank you,
Sachin

Zephyr Version / PR for CAN-FD transport

I have written an implementation for CAN-FD transport for Zephyr, since the Agent already supports it.
And it is working very well. Significantly better than USB-CDC and UART for what I have personally tested. I would be happy to submit a PR for it. However, I wrote using Zephyr 3.5, and this module is officially only supported for 2.7.5 and 3.1. The CAN api changed slightly on 3.3, only the frame and filter structs , I think, thus my implementation won't work right away. I don't have problems modifying in to work with 3.1. However, I would like to know from the maintainers, what is the roadmap with respect to Zephyr versions and microROS distros , because 3.1 is quite old now, and EOL. Will rolling be updated to the latest Zephyr version (3.6 at this moment ) ?. That way , I will just submit my current implementation and we can backport it to Humble and Iron. Otherwise, I will submit the PR for 3.1. I would just like to get some feedback about what would the maintainers prefer.

Support for chip from espressif family with Zephyr

Is it possible to use this module on an ESP chip (I'm trying to use it on ESP32)?
I'm able to build 'micro_ros_zephyr_module' using 'west build -b disco_l475_iot1' but I'm having errors caused by 'app.overlay' content when building with 'west build -p auto -b esp32_devkitc_wroom':

-- west build: generating a build systemwroom
Loading Zephyr default modules (Zephyr base).
-- Application: /home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module
-- CMake version: 3.22.1
-- Found Python3: /usr/bin/python3 (found suitable version "3.10.12", minimum required is "3.8") found components: Interpreter 
-- Cache files will be written to: /home/ognjen/.cache/zephyr
-- Zephyr version: 3.5.99 (/home/ognjen/zephyrproject/zephyr)
-- Found west (found suitable version "1.2.0", minimum required is "0.14.0")
-- Board: esp32_devkitc_wroom
-- ZEPHYR_TOOLCHAIN_VARIANT not set, trying to locate Zephyr SDK
-- Found host-tools: zephyr 0.16.3 (/opt/zephyr-sdk-0.16.3)
-- Found toolchain: zephyr 0.16.3 (/opt/zephyr-sdk-0.16.3)
-- Found Dtc: /opt/zephyr-sdk-0.16.3/sysroots/x86_64-pokysdk-linux/usr/bin/dtc (found suitable version "1.6.0", minimum required is "1.4.6") 
-- Found BOARD.dts: /home/ognjen/zephyrproject/zephyr/boards/xtensa/esp32_devkitc_wroom/esp32_devkitc_wroom.dts
-- Found devicetree overlay: /home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/app.overlay
devicetree error: /home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/app.overlay:2 (column 14): parse error: undefined node label 'usbotg_fs'
-- In: /home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/build/zephyr, command: /usr/bin/python3;/home/ognjen/zephyrproject/zephyr/scripts/dts/gen_defines.py;--dts;/home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/build/zephyr/zephyr.dts.pre;--dtc-flags;'';--bindings-dirs;/home/ognjen/zephyrproject/zephyr/dts/bindings;--header-out;/home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/build/zephyr/include/generated/devicetree_generated.h.new;--dts-out;/home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/build/zephyr/zephyr.dts.new;--edt-pickle-out;/home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/build/zephyr/edt.pickle;--vendor-prefixes;/home/ognjen/zephyrproject/zephyr/dts/bindings/vendor-prefixes.txt
CMake Error at /home/ognjen/zephyrproject/zephyr/cmake/modules/dts.cmake:268 (message):
  gen_defines.py failed with return code: 1
Call Stack (most recent call first):
  /home/ognjen/zephyrproject/zephyr/cmake/modules/zephyr_default.cmake:129 (include)
  /home/ognjen/zephyrproject/zephyr/share/zephyr-package/cmake/ZephyrConfig.cmake:66 (include)
  /home/ognjen/zephyrproject/zephyr/share/zephyr-package/cmake/ZephyrConfig.cmake:92 (include_boilerplate)
  CMakeLists.txt:7 (find_package)


-- Configuring incomplete, errors occurred!
FATAL ERROR: command exited with status 1: /usr/bin/cmake -DWEST_PYTHON=/usr/bin/python3 -B/home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module/build -GNinja -DBOARD=esp32_devkitc_wroom -S/home/ognjen/zephyrproject/applications/micRobbit-firmware/app/modules/micro_ros_zephyr_module

I found in this issue statement that this module should be usable on any board supported by Zephyr.

#60 (comment)

Thanks in advance.

Parameter server not working correctly

Issue template

Hardware description: adafruit_feather_stm32f405
RTOS: Zephyr 2.6.0
Installation type: libmicroros as a zephyr module
Version or commit hash: galactic

Steps to reproduce the issue

https://gist.github.com/rosterloh/5b66d993c62bc975d5ca6bbe0ade1fa0

Expected behavior

ros2 param get /gardin_ec laser_pulse_us should return 20

Actual behavior

*** Booting Zephyr OS build zephyr-v2.6.0 ***
Waiting for agent connection
Serial port connected!
[00:00:00.000,000] dac_ltc2633: Set internal Vref failed
[00:00:00.000,000] servo.servo_pwm_init: Servo 0 configured for full:12000 min:(705, 0), max:(2309, 12000)
[00:00:00.000,000] servo.servo_pwm_init: Servo 1 configured for full:12000 min:(705, 0), max:(2309, 12000)
[00:00:00.000,000] servo.servo_pwm_init: Servo 2 configured for full:18000 min:(544, 0), max:(2400, 18000)
[00:00:00.004,000] main: uROS Application 1.0.0

[00:00:00.060,000] usb_cdc_acm: Device suspended
[00:00:00.484,000] usb_cdc_acm: Device configured
INFO: rcl_wait timeout 0 ms
[00:00:02.078,000] main: Trigger delayed changed to 750
[00:00:02.084,000] main: Laser pulse width changed to 20
cannot allocate received sequence in ros_message

Additional information

Separating module and custom_app repo

Issue template

Is there a way to specify a custom app location, instead of placing our app into the micro_ros_zephyr_module folder?
I'm not sure how to separate the module repo from our app repo, as the app sits within the module under src/

Hardware description:
Nucleo_h743zi
Version or commit hash:
Humble

Micro ros agent stopped at set_verbose_level

Issue template

Hardware description: Wio LoRa E5 dev board
Zephyr
Version or commit hash: Humble

Steps to reproduce the issue

I reproduce steps like on website https://micro.ros.org/docs/tutorials/core/first_application_rtos/zephyr/
I tried pin_pong app and int32_publisher but I used serial config
But to run it on my board I added my board name in CMakeList.txt and also changed in microro_tranpsort.h fd:

    // Set the UART used for communication. e.g. {.fd = 0} leads to UART_0 being used.
    static zephyr_transport_params_t default_params = {.fd = 0};

to .fd=1.
I flash the board by st-link, but for connection I use UART-USB concerter

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/serial/by-id/usb-Silicon_Labs_CP2102N_USB_to_UART_Bridge_Controller_c68cb4bd91ecec11be34ac0ead51a8b2-if00-port0

Actual behavior

[1612884194.563610] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1612884194.563954] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6

Expected bahviour

I want to have a new publisher ping in ros2 topics, but for now i only have 2 default. This is what I expect:

user@user:~$ ros2 topic echo /microROS/ping
stamp:
  sec: 20
  nanosec: 867000000
frame_id: '1344887256_1085377743'
---
stamp:
  sec: 25
  nanosec: 942000000
frame_id: '730417256_1085377743'
---

Additional information

Is there anything to add or what should I change?
I think the problem is in connection between board and my pc, I work on ubnutu 22.04.3, but I don't know why it's starts to running because if there wasn't connection it would show waiting for connection

Error code 1 on calling `rclc_node_init_default`

Issue template

Hardware description: Nucleo F746ZG
RTOS: Zephyr 3.1.99, Zephyr SDK 0.14.0
Installation type: micro_ros_zephyr_module
Version or commit hash: humble
Transport: UDP IPv4
Agent: microros/micro-ros-agent:humble docker image

Steps to reproduce the issue

The issue is seen when the agent is already running on the host PC and the microROS device is started after. The microROS code first pings the agent to identify its presence and then proceeds to creating microROS entities. Could this in anyway be connected to HARD_LIVELINESS_CHECK? Do we need to have this check present to avoid the agent from sending invalid data to microROS and hence microROS failing to init nodes?

Expected behavior

No error codes on calling rclc_node_init_default

Actual behavior

Error code 1 on RCCHECK(rclc_node_init_default(&node, "zephyr_benchmark", "", &support)).

Additional information

Block of relevant code used

rmw_uros_set_custom_transport(MICRO_ROS_FRAMING_REQUIRED, static_cast<void*>(&default_params), zephyr_transport_open,
                                zephyr_transport_close, zephyr_transport_write, zephyr_transport_read);
while (true) {
    while (rmw_uros_ping_agent(ping_timeout, 2) != RMW_RET_OK) {
      LOG_ERR("Wait for agent...");
    }
    LOG_INF("Agent connected.");
    allocator = rcl_get_default_allocator();
    RCCHECK(rclc_support_init(&support, 0, nullptr, &allocator))
    RCCHECK(rclc_node_init_default(&node, "zephyr_benchmark", "", &support))
    
}

Build fails when adding CONFIG_CPLUSPLUS to prj.conf

Hello,
Our code base is cpp based and works well with the non-module style of microros on zephyr.
However, with this repo(module based), I get build errors when the following two flags are added to prj.conf:
If the below two flags are removed, the default project compiles ok.

CONFIG_CPLUSPLUS=y
CONFIG_LIB_CPLUSPLUS=y

Hardware description:
nucleo_h743zi
RTOS:
Installation type:
Version or commit hash:
Humble

Steps to reproduce the issue

Expected behavior

Build succeeds.

Actual behavior

Build failure

/ws/zephyr-sdk-0.14.2/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/10.3.0/../../../../arm-zephyr-eabi/bin/ld.bfd: ../modules/libmicroros/libmicroros.a(libtest_msgs__rosidl_generator_c-arrays__functions.c.obj): in function `test_msgs__srv__Arrays_Request__init':
/ws/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/build/test_msgs/rosidl_generator_c/test_msgs/srv/detail/arrays__functions.c:52: undefined reference to `test_msgs__msg__BasicTypes__init

build_log.txt

Additional information

Issue : "topic [/microROS/ping] does not appear to be published yet Could not determine the type for the passed topic"

Hai, I am trying ping_pong example with Nucleo-G474RE board. I have added 'nucleo_g474re' to the CMakeLists.txt file.

After building and flashing the firmware, created the microROS agent and built. Then I run the agent and it shows in the first figure.

Then in a new terminal, I tried to echo the microROS topic using the following command,
'ros2 topic echo /microROS/ping'

But it shows the error
"topic [/microROS/ping] does not appear to be published yet Could not determine the type for the passed topic"
This shows in the second figure.

I tried it with both serial and serial-usb transport.
I tried it by adding '-v6' to agent run command.
I tried it by setting ROS_DOMAIN_ID=0 in all terminals.
But the error is not resolved.
Please advise me how to solve this problem.

Thank you.
Sachin

Support for custom messages?

I am trying to include custom messages in the microros build, is this currently possible using this module? Any help on this would be appreciated.

Here is the feature I would like to use:
https://micro.ros.org/docs/tutorials/advanced/create_new_type/

rcutils/src/time_unix.c fails on foxy

Time_unix.c fails

Hardware: STM32F4_Discovery
RTOS: Zephyr
Installation type: module
Version: foxy

Steps to reproduce the issue

I have taken the folder "modules/libmicroros" from the foxy branch and added them to my application. When building, the following output happens:

/home/jan/zephyrproject/autonomous-system-controller/Software/application/modules/libmicroros/micro_ros_src/src/rcutils/src/time_unix.c:33:10: fatal error: posix/time.h: No such file or directory
   33 | #include <posix/time.h>  //  Points to Zephyr toolchain posix time implementation
      |          ^~~~~~~~~~~~~~

There the include path for Zephyr is wrong (at least for my tested versions 3.1.0 and 3.2.0). Is has to be

#include <zephyr/posix/time.h>

Changing this makes it compile and link without any error.

Follow Zephyr out-of-tree module example

When Zephyr Project resolves zephyrproject-rtos/zephyr#28438, update module to follow example interfacing pattern for out-of-tree modules.

Service calls don't work correctly with custom services

Hardware description: adafruit_feather_stm32f405
RTOS: Zephyr 2.6.0
Installation type: libmicroros as a zephyr module
Version or commit hash: galactic

Steps to reproduce the issue

https://gist.github.com/rosterloh/5b66d993c62bc975d5ca6bbe0ade1fa0

Expected behavior

ros2 service call /control gardin_interfaces/srv/Control
waiting for service to become available...
requester: making request: gardin_interfaces.srv.Control_Request(module=0, command=0)

Actual behavior

[00:00:07.571,000] main: Service request value: 193: 202.
[00:00:15.858,000] main: Service request value: 10: 72.
[00:00:59.142,000] main: Service request value: 36: 203.
[00:01:01.874,000] main: Service request value: 195: 121.

Project fails to build

Issue template

Hardware description: adafruit_feather_stm32f405
RTOS: Zephyr
Installation type: Ubuntu 21.04 with pip libraries as per README
Version or commit hash: galactic

Steps to reproduce the issue

Setup Zephyr as per getting started guide
Clone micro_ros repo into same root as zephyr with git clone https://github.com/micro-ROS/micro_ros_zephyr_module micro_ros
west build -b adafruit_feather_stm32f405 micro_ros

Expected behavior

micro-ROS library should build and application should link

Actual behavior

micro-ROS library fails to build

Additional information

[143/159] Performing build step for 'libmicroros_project'
FAILED: libmicroros-prefix/src/libmicroros_project-stamp/libmicroros_project-build /home/rosterloh/zephyrproject/extras/lib/microros/libmicroros.a 
cd /home/rosterloh/zephyrproject/extras/lib/microros && make -f libmicroros.mk "X_CFLAGS=-I/home/rosterloh/zephyrproject/zephyr/include -I/home/rosterloh/zephyrproject/build/zephyr/include/generated -I/home/rosterloh/zephyrproject/zephyr/soc/arm/st_stm32/stm32f4 -I/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include -I/home/rosterloh/zephyrproject/zephyr/drivers -I/home/rosterloh/zephyrproject/zephyr/soc/arm/st_stm32/common -I/home/rosterloh/zephyrproject/zephyr/subsys/usb -I/home/rosterloh/zephyrproject/modules/hal/cmsis/CMSIS/Core/Include -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/stm32f4xx/soc -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/stm32f4xx/drivers/include -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/stm32f4xx/drivers/include/Legacy -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/common_ll/include -I/home/rosterloh/zephyrproject/extras/include -DKERNEL -D__ZEPHYR__=1 -D_FORTIFY_SOURCE=2 -DBUILD_VERSION=zephyr-v2.6.0-495-gf5b0f92bb718 -D__LINUX_ERRNO_EXTENSIONS__ -D__PROGRAM_START -DSTM32F405xx -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DCORE_CM4 -DHSE_VALUE=12000000 -Os -imacros /home/rosterloh/zephyrproject/build/zephyr/include/generated/autoconf.h -ffreestanding -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m4 -mthumb -mabi=aapcs -imacros /home/rosterloh/zephyrproject/zephyr/include/toolchain/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wno-main -Wno-pointer-sign -Wpointer-arith -Wexpansion-to-defined -Wno-address-of-packed-member -Wno-unused-but-set-variable -Werror=implicit-int -fno-asynchronous-unwind-tables -fno-pie -fno-pic -fno-strict-overflow -fno-reorder-functions -fno-defer-pop -fmacro-prefix-map=/home/rosterloh/zephyrproject/extras/applications/uros=CMAKE_SOURCE_DIR -fmacro-prefix-map=/home/rosterloh/zephyrproject/zephyr=ZEPHYR_BASE -fmacro-prefix-map=/home/rosterloh/zephyrproject=WEST_TOPDIR -ffunction-sections -fdata-sections " "X_CXXFLAGS=-I/home/rosterloh/zephyrproject/zephyr/include -I/home/rosterloh/zephyrproject/build/zephyr/include/generated -I/home/rosterloh/zephyrproject/zephyr/soc/arm/st_stm32/stm32f4 -I/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include -I/home/rosterloh/zephyrproject/zephyr/drivers -I/home/rosterloh/zephyrproject/zephyr/soc/arm/st_stm32/common -I/home/rosterloh/zephyrproject/zephyr/subsys/usb -I/home/rosterloh/zephyrproject/modules/hal/cmsis/CMSIS/Core/Include -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/stm32f4xx/soc -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/stm32f4xx/drivers/include -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/stm32f4xx/drivers/include/Legacy -I/home/rosterloh/zephyrproject/modules/hal/stm32/stm32cube/common_ll/include -I/home/rosterloh/zephyrproject/extras/include -DKERNEL -D__ZEPHYR__=1 -D_FORTIFY_SOURCE=2 -DBUILD_VERSION=zephyr-v2.6.0-495-gf5b0f92bb718 -D__LINUX_ERRNO_EXTENSIONS__ -D__PROGRAM_START -DSTM32F405xx -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DCORE_CM4 -DHSE_VALUE=12000000 -Os -fcheck-new -fno-exceptions -fno-rtti -imacros /home/rosterloh/zephyrproject/build/zephyr/include/generated/autoconf.h -ffreestanding -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m4 -mthumb -mabi=aapcs -imacros /home/rosterloh/zephyrproject/zephyr/include/toolchain/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wno-main -Wno-address-of-packed-member -Wno-unused-but-set-variable -fno-asynchronous-unwind-tables -fno-pie -fno-pic -fno-strict-overflow -fno-reorder-functions -fno-defer-pop -fmacro-prefix-map=/home/rosterloh/zephyrproject/extras/applications/uros=CMAKE_SOURCE_DIR -fmacro-prefix-map=/home/rosterloh/zephyrproject/zephyr=ZEPHYR_BASE -fmacro-prefix-map=/home/rosterloh/zephyrproject=WEST_TOPDIR -ffunction-sections -fdata-sections " X_CC=/home/rosterloh/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc X_AR=/home/rosterloh/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-ar X_RANLIB=/home/rosterloh/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-ranlib X_CXX=/home/rosterloh/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-g++ COMPONENT_PATH=/home/rosterloh/zephyrproject/zephyr/../extras/lib/microros ZEPHYR_BASE=/home/rosterloh/zephyrproject/zephyr PROJECT_BINARY_DIR=/home/rosterloh/zephyrproject/build/zephyr && /usr/bin/cmake -E touch /home/rosterloh/zephyrproject/build/libmicroros-prefix/src/libmicroros_project-stamp/libmicroros_project-build
. /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/utils.sh; \
cp /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/colcon.meta /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/configured_colcon.meta; \
ZEPHYR_CONF_FILE=/home/rosterloh/zephyrproject/build/zephyr/.config; \
update_meta_from_zephyr_config "CONFIG_MICROROS_NODES" "rmw_microxrcedds" "RMW_UXRCE_MAX_NODES"; \
update_meta_from_zephyr_config "CONFIG_MICROROS_PUBLISHERS" "rmw_microxrcedds" "RMW_UXRCE_MAX_PUBLISHERS"; \
update_meta_from_zephyr_config "CONFIG_MICROROS_SUBSCRIBERS" "rmw_microxrcedds" "RMW_UXRCE_MAX_SUBSCRIPTIONS"; \
update_meta_from_zephyr_config "CONFIG_MICROROS_CLIENTS" "rmw_microxrcedds" "RMW_UXRCE_MAX_CLIENTS"; \
update_meta_from_zephyr_config "CONFIG_MICROROS_SERVERS" "rmw_microxrcedds" "RMW_UXRCE_MAX_SERVICES"; \
update_meta_from_zephyr_config "CONFIG_MICROROS_RMW_HISTORIC" "rmw_microxrcedds" "RMW_UXRCE_MAX_HISTORY"; \
update_meta_from_zephyr_config "CONFIG_MICROROS_XRCE_DDS_HISTORIC" "rmw_microxrcedds" "RMW_UXRCE_STREAM_HISTORY"; \
update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=OFF"; \
update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=OFF"; \
update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"; \
update_meta "microxrcedds_client" "UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"; \
update_meta "microxrcedds_client" "UCLIENT_PROFILE_STREAM_FRAMING=ON"; \
update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom";
rm -f /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/zephyr_toolchain.cmake; \
cat /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/zephyr_toolchain.cmake.in | \
	sed "s/@CMAKE_C_COMPILER@/\/home\/rosterloh\/zephyr-sdk\/arm-zephyr-eabi\/bin\/arm-zephyr-eabi-gcc/g" | \
	sed "s/@CMAKE_CXX_COMPILER@/\/home\/rosterloh\/zephyr-sdk\/arm-zephyr-eabi\/bin\/arm-zephyr-eabi-g++/g" | \
	sed "s/@CMAKE_SYSROOT@/\/home\/rosterloh\/zephyrproject\/zephyr\/..\/extras\/lib\/microros/g" | \
	sed "s/@CFLAGS@/-c -I\/home\/rosterloh\/zephyrproject\/zephyr\/include\/posix -I\/home\/rosterloh\/zephyrproject\/build\/zephyr\/include\/generated -I\/home\/rosterloh\/zephyrproject\/zephyr\/include -I\/home\/rosterloh\/zephyrproject\/build\/zephyr\/include\/generated -I\/home\/rosterloh\/zephyrproject\/zephyr\/soc\/arm\/st_stm32\/stm32f4 -I\/home\/rosterloh\/zephyrproject\/zephyr\/lib\/libc\/newlib\/include -I\/home\/rosterloh\/zephyrproject\/zephyr\/drivers -I\/home\/rosterloh\/zephyrproject\/zephyr\/soc\/arm\/st_stm32\/common -I\/home\/rosterloh\/zephyrproject\/zephyr\/subsys\/usb -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/cmsis\/CMSIS\/Core\/Include -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/stm32f4xx\/soc -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/stm32f4xx\/drivers\/include -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/stm32f4xx\/drivers\/include\/Legacy -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/common_ll\/include -I\/home\/rosterloh\/zephyrproject\/extras\/include -DKERNEL -D__ZEPHYR__=1 -D_FORTIFY_SOURCE=2 -DBUILD_VERSION=zephyr-v2.6.0-495-gf5b0f92bb718 -D__LINUX_ERRNO_EXTENSIONS__ -D__PROGRAM_START -DSTM32F405xx -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DCORE_CM4 -DHSE_VALUE=12000000 -Os -imacros \/home\/rosterloh\/zephyrproject\/build\/zephyr\/include\/generated\/autoconf.h -ffreestanding -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m4 -mthumb -mabi=aapcs -imacros \/home\/rosterloh\/zephyrproject\/zephyr\/include\/toolchain\/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wno-main -Wno-pointer-sign -Wpointer-arith -Wexpansion-to-defined -Wno-address-of-packed-member -Wno-unused-but-set-variable -Werror=implicit-int -fno-asynchronous-unwind-tables -fno-pie -fno-pic -fno-strict-overflow -fno-reorder-functions -fno-defer-pop -fmacro-prefix-map=\/home\/rosterloh\/zephyrproject\/extras\/applications\/uros=CMAKE_SOURCE_DIR -fmacro-prefix-map=\/home\/rosterloh\/zephyrproject\/zephyr=ZEPHYR_BASE -fmacro-prefix-map=\/home\/rosterloh\/zephyrproject=WEST_TOPDIR -ffunction-sections -fdata-sections /g" | \
	sed "s/@CXXFLAGS@/-c -I\/home\/rosterloh\/zephyrproject\/zephyr\/include\/posix -I\/home\/rosterloh\/zephyrproject\/build\/zephyr\/include\/generated -I\/home\/rosterloh\/zephyrproject\/zephyr\/include -I\/home\/rosterloh\/zephyrproject\/build\/zephyr\/include\/generated -I\/home\/rosterloh\/zephyrproject\/zephyr\/soc\/arm\/st_stm32\/stm32f4 -I\/home\/rosterloh\/zephyrproject\/zephyr\/lib\/libc\/newlib\/include -I\/home\/rosterloh\/zephyrproject\/zephyr\/drivers -I\/home\/rosterloh\/zephyrproject\/zephyr\/soc\/arm\/st_stm32\/common -I\/home\/rosterloh\/zephyrproject\/zephyr\/subsys\/usb -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/cmsis\/CMSIS\/Core\/Include -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/stm32f4xx\/soc -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/stm32f4xx\/drivers\/include -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/stm32f4xx\/drivers\/include\/Legacy -I\/home\/rosterloh\/zephyrproject\/modules\/hal\/stm32\/stm32cube\/common_ll\/include -I\/home\/rosterloh\/zephyrproject\/extras\/include -DKERNEL -D__ZEPHYR__=1 -D_FORTIFY_SOURCE=2 -DBUILD_VERSION=zephyr-v2.6.0-495-gf5b0f92bb718 -D__LINUX_ERRNO_EXTENSIONS__ -D__PROGRAM_START -DSTM32F405xx -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DCORE_CM4 -DHSE_VALUE=12000000 -Os -fcheck-new -fno-exceptions -fno-rtti -imacros \/home\/rosterloh\/zephyrproject\/build\/zephyr\/include\/generated\/autoconf.h -ffreestanding -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m4 -mthumb -mabi=aapcs -imacros \/home\/rosterloh\/zephyrproject\/zephyr\/include\/toolchain\/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wno-format-zero-length -Wno-main -Wno-address-of-packed-member -Wno-unused-but-set-variable -fno-asynchronous-unwind-tables -fno-pie -fno-pic -fno-strict-overflow -fno-reorder-functions -fno-defer-pop -fmacro-prefix-map=\/home\/rosterloh\/zephyrproject\/extras\/applications\/uros=CMAKE_SOURCE_DIR -fmacro-prefix-map=\/home\/rosterloh\/zephyrproject\/zephyr=ZEPHYR_BASE -fmacro-prefix-map=\/home\/rosterloh\/zephyrproject=WEST_TOPDIR -ffunction-sections -fdata-sections /g" \
	> /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/zephyr_toolchain.cmake
cd /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/micro_ros_src; \
. ../micro_ros_dev/install/local_setup.sh; \
colcon build \
	--merge-install \
	--packages-ignore-regex=.*_cpp \
	--metas /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/configured_colcon.meta \
	--cmake-args \
	"--no-warn-unused-cli" \
	-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
	-DTHIRDPARTY=ON \
	-DBUILD_SHARED_LIBS=OFF \
	-DBUILD_TESTING=OFF \
	-DCMAKE_BUILD_TYPE=Release \
	-DCMAKE_TOOLCHAIN_FILE=/home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/zephyr_toolchain.cmake \
	-DCMAKE_VERBOSE_MAKEFILE=OFF; \

Starting >>> rcutils
Starting >>> rosidl_cli
Starting >>> rosidl_typesupport_interface
Starting >>> microcdr
Finished <<< rosidl_cli [1.49s]
Starting >>> rosidl_adapter
Finished <<< rosidl_typesupport_interface [1.71s]
Starting >>> rmw_implementation_cmake
--- stderr: microcdr
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/include/ucdr/microcdr.h:25,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/types/../common_internal.h:22,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/types/basic.c:15:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/include/ucdr/microcdr.h:25,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/common_internal.h:22,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/common.c:15:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/include/ucdr/microcdr.h:25,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/types/string.c:16:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/include/ucdr/microcdr.h:25,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/types/../common_internal.h:22,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/types/array.c:15:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/include/ucdr/microcdr.h:25,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/micro-CDR/src/c/types/sequence.c:15:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
---
Finished <<< microcdr [2.17s]
Starting >>> microxrcedds_client
Finished <<< rmw_implementation_cmake [0.90s]
Starting >>> tracetools
--- stderr: rcutils
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:31,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/array_list.c:23:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/allocator.c:16:
/home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:44:10: error: expected ';' before 'int'
   44 | __syscall int zsock_select(int nfds, zsock_fd_set *readfds,
      |          ^~~~
      |          ;
In file included from /home/rosterloh/zephyrproject/build/zephyr/include/generated/syscalls/socket_select.h:10,
                 from /home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:147,
                 from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/allocator.c:16:
/home/rosterloh/zephyrproject/zephyr/include/syscall.h:93:21: error: expected ';' before '_Bool'
   93 | static ALWAYS_INLINE bool z_syscall_trap(void)
      |                     ^
      |                     ;
In file included from /home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:147,
                 from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/allocator.c:16:
/home/rosterloh/zephyrproject/build/zephyr/include/generated/syscalls/socket_select.h:26:19: error: static declaration of 'zsock_select' follows non-static declaration
   26 | static inline int zsock_select(int nfds, zsock_fd_set * readfds, zsock_fd_set * writefds, zsock_fd_set * exceptfds, struct zsock_timeval * timeout)
      |                   ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/allocator.c:16:
/home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:44:15: note: previous declaration of 'zsock_select' was here
   44 | __syscall int zsock_select(int nfds, zsock_fd_set *readfds,
      |               ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/array_list.c:23:
/home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:44:10: error: expected ';' before 'int'
   44 | __syscall int zsock_select(int nfds, zsock_fd_set *readfds,
      |          ^~~~
      |          ;
In file included from /home/rosterloh/zephyrproject/build/zephyr/include/generated/syscalls/socket_select.h:10,
                 from /home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:147,
                 from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/array_list.c:23:
/home/rosterloh/zephyrproject/zephyr/include/syscall.h:93:21: error: expected ';' before '_Bool'
   93 | static ALWAYS_INLINE bool z_syscall_trap(void)
      |                     ^
      |                     ;
In file included from /home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:147,
                 from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/array_list.c:23:
/home/rosterloh/zephyrproject/build/zephyr/include/generated/syscalls/socket_select.h:26:19: error: static declaration of 'zsock_select' follows non-static declaration
   26 | static inline int zsock_select(int nfds, zsock_fd_set * readfds, zsock_fd_set * writefds, zsock_fd_set * exceptfds, struct zsock_timeval * timeout)
      |                   ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/array_list.c:23:
/home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:44:15: note: previous declaration of 'zsock_select' was here
   44 | __syscall int zsock_select(int nfds, zsock_fd_set *readfds,
      |               ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:31,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/char_array.c:16:
/home/rosterloh/zephyrproject/zephyr/lib/libc/newlib/include/stdint.h:28:2: warning: #include_next is a GCC extension
   28 | #include_next <stdint.h>
      |  ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/char_array.c:16:
/home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:44:10: error: expected ';' before 'int'
   44 | __syscall int zsock_select(int nfds, zsock_fd_set *readfds,
      |          ^~~~
      |          ;
In file included from /home/rosterloh/zephyrproject/build/zephyr/include/generated/syscalls/socket_select.h:10,
                 from /home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:147,
                 from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/char_array.c:16:
/home/rosterloh/zephyrproject/zephyr/include/syscall.h:93:21: error: expected ';' before '_Bool'
   93 | static ALWAYS_INLINE bool z_syscall_trap(void)
      |                     ^
      |                     ;
In file included from /home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:147,
                 from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/char_array.c:16:
/home/rosterloh/zephyrproject/build/zephyr/include/generated/syscalls/socket_select.h:26:19: error: static declaration of 'zsock_select' follows non-static declaration
   26 | static inline int zsock_select(int nfds, zsock_fd_set * readfds, zsock_fd_set * writefds, zsock_fd_set * exceptfds, struct zsock_timeval * timeout)
      |                   ^~~~~~~~~~~~
In file included from /home/rosterloh/zephyrproject/zephyr/include/posix/sys/select.h:9,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/types.h:50,
                 from /home/rosterloh/zephyr-sdk/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/stdio.h:61,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/rosterloh/zephyrproject/extras/lib/microros/micro_ros_src/src/rcutils/src/char_array.c:16:
/home/rosterloh/zephyrproject/zephyr/include/net/socket_select.h:44:15: note: previous declaration of 'zsock_select' was here
   44 | __syscall int zsock_select(int nfds, zsock_fd_set *readfds,
      |               ^~~~~~~~~~~~
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:82: CMakeFiles/rcutils.dir/src/allocator.c.obj] Error 1
gmake[3]: *** Waiting for unfinished jobs....
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:96: CMakeFiles/rcutils.dir/src/array_list.c.obj] Error 1
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:110: CMakeFiles/rcutils.dir/src/char_array.c.obj] Error 1
gmake[2]: *** [CMakeFiles/Makefile2:166: CMakeFiles/rcutils.dir/all] Error 2
gmake[2]: *** Waiting for unfinished jobs....
gmake[1]: *** [Makefile:146: all] Error 2
---
Failed   <<< rcutils [2.80s, exited with code 2]
Aborted  <<< microxrcedds_client [0.77s]
Aborted  <<< rosidl_adapter [1.60s]
Aborted  <<< tracetools [0.51s]

Summary: 4 packages finished [4.53s]
  1 package failed: rcutils
  3 packages aborted: microxrcedds_client rosidl_adapter tracetools
  3 packages had stderr output: microcdr rcutils tracetools
  49 packages not processed
make: *** [libmicroros.mk:100: /home/rosterloh/zephyrproject/zephyr/../extras/lib/microros/micro_ros_src/install] Error 2

POSIX timers for zephyr fix in rcutils is not being reflected in the humble release

RTOS: Zephyr
Installation type: module
Version or commit hash: humble

Steps to reproduce the issue

After cloning a fresh copy of micro ROS module for zephyr I was not able to build because problems with posix time implementation for Zephyr. It seems the current humble release is not reflecting the fix that was submitted to the rcutils: ros2/rcutils#390

Expected behavior

It shoud build the binary to be flashed to the board using west flash

Actual behavior

It fails during the build, pointing error in the posix/time.h path for zephyr.

error : libmicroros.a(/) in archive is not an object

Following steps to reproduce:
environment : macos 10.15.7
installing tools :
python3 -m pip install colcon-common-extensions
pip3 install catkin_pkg lark-parser empy
clone the git
in zephyr directory execute
west init && west update
add root dir:
export GNUARMEMB_TOOLCHAIN_PATH="$HOME/tools/gcc-arm-none-eabi-8-2018-q4-major"
export ZEPHYR_TOOLCHAIN_VARIANT="gnuarmemb"

source modules/libmicroros/zephyr/zephyr/zephyr-env.sh
west build -b disco_l475_iot1 micro_ros_zephyr_module

result:
Linking C executable zephyr/zephyr_prebuilt.elf

tools/gcc-arm-none-eabi-8-2018-q4-major/bin/../lib/gcc/arm-none-eabi/8.2.1/../../../../arm-none-eabi/bin/ld: /Users/d/_Projects/gitprojects/w/micro_ros_zephyr_module/modules/libmicroros/libmicroros.a: member /Users/d/_Projects/gitprojects/w/micro_ros_zephyr_module/modules/libmicroros/libmicroros.a(/) in archive is not an object

nRF52 support over Zephyr

Hi,
I was wondering if there are already on-going porting for the Nordic family (specifically nRF52840), and if not, are there some references I can look into to add hardware support for it?

Thank you for your time!

Question: Build failure in unique_identifier_msgs

Hi! I'm trying to integrate micro-ros into an existing zephyr project using this module.

The build fails, and it seems like what's happening is that it tries to build message-definitions for fastrtps, which is not possible due to a fastcdr only being installed for "64bit", and i'm building for my ARM microcontroller.

(Why does this even happen? If i understand correctly ROS2 galactic uses cyclone exclusively, and micro-ros doesnt use either of those...)

I would appreciate if anyone has experienced this before and knows a solution, or has ideas on how to solve this.

CMake Error at /opt/ros/galactic/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:5 (find_package):
  Could not find a configuration file for package "fastcdr" that is
  compatible with requested version "".

  The following configuration files were considered but not accepted:

    /opt/ros/galactic/lib/cmake/fastcdr/fastcdr-config.cmake, version: 1.0.20 (64bit)

Call Stack (most recent call first):
  /opt/ros/galactic/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
  /home/jonasotto/io-board-software/modules/libmicroros/micro_ros_src/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
  /home/jonasotto/io-board-software/modules/libmicroros/micro_ros_src/install/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
  /home/jonasotto/io-board-software/modules/libmicroros/micro_ros_src/install/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /home/jonasotto/io-board-software/modules/libmicroros/micro_ros_src/install/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)


---
Failed   <<< unique_identifier_msgs [3.52s, exited with code 1]

Some relevant information:

board: teensy41
zephyr version: mostly up-to-date main branch (our fork with a few additional drivers)
ROS2 galactic

Cannot create more than 2 services

Issue template

Hardware description: STM32_h743vit MCU
RTOS: Zephyr 3.1
Installation type: MicroROS zephyr module
Version or commit hash: Humble

Steps to reproduce the issue

Using the above configuration, I am trying to create and use 4 services that use trigger std messages.
All 4 services have been added to the executor, but for the last 2 services rclc_service_init_best_effort returns RCL_RET_ERROR.

Expected behavior

Using the CLI on a computer connected to the ROS network
ros2 service call [tab autocomplete] displays 4 services.
Also service call CLI commands do not get a response.

Actual behavior

Using the CLI on a computer connected to the ROS network
ros2 service call [tab autocomplete] displays 2 services.
Also service call CLI commands do get a response.

Additional information

A few build questions

Hello,
I'm more familiar with the old style of using zephyr(micro_ros_setup). My issues was here, and have been directed here.

Questions:

Using the nightly workflow as a template, I create a docker image based off Ubuntu 22.04, with necessary apt installs. Once built, under a container, I have a build script(z.sh) which gets sourced(source z.sh), with necessary zephyr sdk install. Any guidance/comments on this setup?
z.txt
Once the above script finishes, I clone micro_ros_zephyr_module under zephyrproject/zephyr, then build using
west build -p always -b disco_l475_iot1 micro_ros_zephyr_module
but building with any other board fails:
west build -p always -b nucleo_h743zi micro_ros_zephyr_module
with alot of redifinition errors(see redefinition.log). There is another issue detailing this, but I'm on v3.1 and sdk 0.14.2. I made sure to checkout v3.1 of zephyr.
redefinition.log

3.In the old method, one could change the transport. We are using udp. How does one do that here and configure microros. Is that required now?

Hardware description:
Nucleo H743zi
RTOS:
Zephyr
Installation type:
micro_ros_zephyr_module
Version or commit hash:
humble

Steps to reproduce the issue

Expected behavior

Actual behavior

Additional information

Bluetooth transport

Hello, I am working on the nRF52840 chip with Zephyr RTOS and I was wondering if it is feasible/reliable implementing mirco-ROS over the BLE 5.0 transport protocol (following this tutorial) with this chip for streaming data from a sensor @200 Hz? And if it is the case, are there any similar works I can look at?

Thank you!

How to add extra package?

RTOS: Zephyr 3.1
Installation type: micro_ros_zephyr_module
Version or commit hash: humble

Steps to reproduce the issue

I try to build add two int service, but i have problem with adding extra package. I don't know how to add example_interfaces, in CMakeList.txt

Expected behavior

Compile

Actual behavior

Don't compile

Additional information

I create service client example from zephyr_apps, but using zephyr_module

Has someone tried UDP on STM32?

Hi just some general questions.

I am trying to use this module on a custom-made STM32 board we would use in Formula Student in our Driverless racing part.
I have tried several things to get it to compile with UDP as a transport layer, but when not using native posix, I get a lot of errors.
Many things are then defined twice or more if I use the socket.h with the ETH_STM32_HAL. I have attached an example of this below.

If I comment out the unistd.h, I get a step further but then it happens with other includes like the poll.h or netdb.h

I am a bit new to Zephyr and especially to ethernet. Maybe someone has an example prj.conf for example for the olimex e407?
My other option would be to use the microros setup with the olimex e407 board and change the device tree before building, so not a high priority, but an example would fit very nicely in this repo I think.

Thanks in advance for any suggestions :)

In file included from /home/jan/micro_ros_zephyr_module/modules/libmicroros/microros_transports/udp/microros_transports.h:21,
                 from /home/jan/micro_ros_zephyr_module/src/main.c:15:
/home/jan/zephyrproject/zephyr/include/zephyr/net/socket.h:698:19: error: static declaration of 'close' follows non-static declaration
  698 | static inline int close(int sock)
      |                   ^~~~~
In file included from /home/jan/zephyr-sdk-0.14.2/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/unistd.h:4,
                 from /home/jan/micro_ros_zephyr_module/modules/libmicroros/microros_transports/udp/microros_transports.h:18,
                 from /home/jan/micro_ros_zephyr_module/src/main.c:15:
/home/jan/zephyr-sdk-0.14.2/arm-zephyr-eabi/arm-zephyr-eabi/sys-include/sys/unistd.h:30:9: note: previous declaration of 'close' was here
   30 | int     close (int __fildes);
      |         ^~~~~
In file included from /home/jan/micro_ros_zephyr_module/modules/libmicroros/microros_transports/udp/microros_transports.h:22,
                 from /home/jan/micro_ros_zephyr_module/src/main.c:15:
/home/jan/zephyrproject/zephyr/include/zephyr/posix/poll.h:23:19: error: redefinition of 'poll'
   23 | static inline int poll(struct pollfd *fds, int nfds, int timeout)
      |                   ^~~~
In file included from /home/jan/micro_ros_zephyr_module/modules/libmicroros/microros_transports/udp/microros_transports.h:21,
                 from /home/jan/micro_ros_zephyr_module/src/main.c:15:
/home/jan/zephyrproject/zephyr/include/zephyr/net/socket.h:775:19: note: previous definition of 'poll' was here
  775 | static inline int poll(struct zsock_pollfd *fds, int nfds, int timeout)
      |                   ^~~~

std_srvs location

Hardware description:
nucleo_h743zi
RTOS:
Installation type:
Version or commit hash:
Humble

We are moving towards zephyr microros module from the non-module style.

There are a couple of services we are using, specifically trigger style service.
There used to be a std_srvs/srv under /mcu_ws/install/include/std_srvs/ in the non-module style and using it as below seemed to work.

I'm unable to find the std services in the module solution. Has it moved?
This is what my modules/libmicroros/include folder looks like:

Thank you!

Uknown error while initializing publisher

Issue template

Hardware description: WaveShare Core429i board (based on STM32F429IG)
RTOS: Zephyr
Installation type: Zephyr module + agent in docker
Version or commit hash: galactic (also tried with foxy)

Steps to reproduce the issue

I've first added support for Core429i board to Zephyr and successfully run various samples (blink LED, serial console, USB console). I then cloned this repo and built as:
west build -b core429i micro_ros_zephyr_module -- -DBOARD_ROOT=$(pwd)/firmware
I then started the agent with:
docker run --privileged --net=host -v /dev:/dev microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0
I then start a separate process in running container to inspect the system with:
docker exec -it <container ID> bash

Expected behavior

Should see the expected topic of microros publisher. Also, I should be able to see more debug information to see what is wrong (how to do that?)

Actual behavior

If I inspect Zephyr console I see:

*** Booting Zephyr OS build zephyr-v2.6.0-4-gdf0c6f08f7fe  ***
Waiting for agent connection
[00:00:00.061,000]  usb_cdc_acm: Device suspended
[00:00:00.483,000]  usb_cdc_acm: Device configured
Serial port connected!
Failed status on line 58: 1. Aborting.

On the agent output I see:

[1624371746.118977] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1624371746.119437] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1624371747.216420] info     | Root.cpp           | create_client            | create                 | client_key: 0x494F8913, session_id: 0x81
[1624371747.216586] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x1229949203, address: 0

And if I inspect the system inside the second container process I get:

root@pop-os:/uros_ws# ros2 topic list
/parameter_events
/rosout
root@pop-os:/uros_ws# ros2 node list
/esp32_int32_publisher
root@pop-os:/uros_ws# ros2 node info /esp32_int32_publisher 
/esp32_int32_publisher
  Subscribers:

  Publishers:

  Service Servers:

  Service Clients:

  Action Servers:

  Action Clients:

root@pop-os:/uros_ws#

Additional information

During build, this is the output I get: https://gist.github.com/protobits/2d1eebba1c47feda6c03dbd2c895320e
Note that I added: CONFIG_MICROROS_TRANSPORT_SERIAL_USB=y and removed: CONFIG_NATIVE_POSIX_TIMER=y since this is not appropriate for real hardware.

Changed Zephyr code base causes compilation errors (z_impl_clock_gettime)

Issue template

Hardware description: STM32H743ZI
RTOS: First noticed on Zephyr 3.5.99
Installation type:
Version or commit hash: iron

Steps to reproduce the issue

Dear micro-ROS maintainers,

Due to a recent change in Zephyr code it is no longer possible to successfully compile micro-ROS using the latest Zephyr code.

The notified problem is: " in function uxr_nanos': undefined reference to z_impl_clock_gettime' "
The Zephyr developers have removed the `z_impl_clock_gettime' function and replaced it by the clock_gettime function. As far as I can tell this seems to only be a change in name with similar functionality, but you can better check that yourself as well.

The change happened in commit 95a22b1 in the lib/posix/clock.c file.

zephyrproject-rtos/zephyr@95a22b1#diff-d6e991eb8b553cb6e536ec823096cee7c24036762da9876a91884d9eefcd1160

Proposed solution

As far as I can see this function is only used in the micro-ROS Micro-XRCE-DDS-Client/src/c/util/time.c file (https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/src/c/util/time.c)
As a temporary fix I could use a wrapper in my main file for the new function name and could get my code compiling again.

int z_impl_clock_gettime(clockid_t clock_id, struct timespec *ts){
return clock_gettime(clock_id, ts);
}

It would however be nice to have this change incorporated in the general micro-ROS code.

I hope to have provided sufficient information.

Kind regards

Ping does not work after `rclc_support_init` is called

Description

Hardware description: Nucleo F746ZG
RTOS: Zephyr 3.1.99, Zephyr SDK 0.14.0
Installation type: micro_ros_zephyr_module
Version or commit hash: galactic
Transport: UDP IPv4
Agent: microros/micro-ros-agent:galactic docker image

It seems the rmw_uros_ping_agent always returns RMW_RET_ERROR after the rclc_support_init is called.

(Please correct me if this is not the right place for this issue)

Steps to reproduce the issue

Two tests were tried to reproduce the problem. The agent was kept alive during the test.

First, I tried the apps/micro-ros_reconnection from this repository.
Second, I tried to simplify that program to reveal the real cause. The simplified program is attached in the "Additional information" part below. What it does is to wait until the agent is available, initialize the rclc_support_t, and then check the agent's availability again with ping.

Expected behavior

For the first test (official demo), the state machine should stay at the AGENT_CONNECTED state.
For the second test (my custom test), it should keep printing loop 0|1|2|....

Actual behavior

The firmware keeps connecting to and disconnecting from the agent repeatedly.

The log from the first test (official demo)

[00:00:00.000,000] <inf> can_stm32: Init of CAN_1 done
[00:00:02.478,000] <err> eth_stm32_hal: Failed to enqueue frame into RX queue: -115
[00:00:02.480,000] <inf> uros_transport: Waiting for uROS agent.

[00:00:03.487,000] <inf> uros_transport: Connected to uROS agent and created entities.
[00:00:03.988,000] <inf> uros_transport: Disconnected from agent. Switching to waiting for uROS agent

[00:00:03.996,000] <inf> uros_transport: Waiting for uROS agent.

[00:00:05.004,000] <inf> uros_transport: Connected to uROS agent and created entities.
[00:00:05.504,000] <inf> uros_transport: Disconnected from agent. Switching to waiting for uROS agent

[00:00:05.513,000] <inf> uros_transport: Waiting for uROS agent.

The log from the second test (my custom test)

[00:00:00.000,000] <inf> can_stm32: Init of CAN_1 done
[00:00:02.393,000] <err> eth_stm32_hal: Failed to enqueue frame into RX queue: -115
[00:00:02.394,000] <inf> microros: Found the microros agent.
[00:00:04.396,000] <inf> microros: Disconnect from the microros agent
[00:00:05.397,000] <inf> microros: Found the microros agent.
[00:00:07.400,000] <inf> microros: Disconnect from the microros agent
[00:00:08.400,000] <inf> microros: Found the microros agent.
[00:00:10.402,000] <inf> microros: Disconnect from the microros agent
[00:00:11.403,000] <inf> microros: Found the microros agent.

Additional information

Test program

The program I used for the test is as follows.

#include <stdint.h>

#include "zephyr.h"
#include "zephyr/logging/log.h"

// microros
#include "microros_transports.h"
#include "rcl/rcl.h"
#include "rclc/rclc.h"
#include "rmw_microros/rmw_microros.h"

LOG_MODULE_REGISTER(microros);

#define RCCHECK(fn)                                              \
  {                                                              \
    rcl_ret_t temp_rc = fn;                                      \
    if ((temp_rc != RCL_RET_OK)) {                               \
      LOG_ERR("line %d: error %d.", __LINE__, (int)(temp_rc));   \
    }                                                            \
  }

void main() {
  rmw_uros_set_custom_transport(MICRO_ROS_FRAMING_REQUIRED, (void*)(&default_params), &zephyr_transport_open,
                                &zephyr_transport_close, &zephyr_transport_write, &zephyr_transport_read);
  while (true) {
    while (rmw_uros_ping_agent(100, 1) != RMW_RET_OK) {
      LOG_INF("Waiting for microros agent...");
      k_msleep(1000);
    }
    LOG_INF("Found the microros agent.");

    rcl_allocator_t allocator;
    rclc_support_t support;
    allocator = rcl_get_default_allocator();
    RCCHECK(rclc_support_init(&support, 0, NULL, &allocator))
    k_msleep(1000);

    size_t loop_count = 0;
    while (rmw_uros_ping_agent(1000, 1) == RMW_RET_OK) {
      LOG_INF("loop %d", loop_count++);
      k_msleep(1000);
    }

    RCCHECK(rclc_support_fini(&support))
    LOG_INF("Disconnect from the microros agent");
    k_msleep(1000);
  }
}

Agent log

The agent verbose level is set to 4, and the INFO level agent log is as follows.

[1656710159.408739] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1656710159.408878] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1656710160.147612] info     | Root.cpp           | create_client            | create                 | client_key: 0x57995EE5, session_id: 0x81
[1656710160.147740] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x57995EE5, address: 10.42.0.2:19125
[1656710162.149116] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x57995EE5
[1656710162.149203] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x57995EE5, address: 10.42.0.2:19125
[1656710163.151464] info     | Root.cpp           | create_client            | create                 | client_key: 0x567B653D, session_id: 0x81
[1656710163.151542] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x567B653D, address: 10.42.0.2:4599
[1656710165.152946] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x567B653D
[1656710165.153018] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x567B653D, address: 10.42.0.2:4599

undefined reference to `_fini'

Following steps to reproduce:
environment : macos 10.15.7
zephy: 2.4.99
installing tools :
python3 -m pip install colcon-common-extensions
pip3 install catkin_pkg lark-parser empy
clone the git
in zephyr directory execute
west init && west update
add root dir:
export GNUARMEMB_TOOLCHAIN_PATH="$HOME/tools/gcc-arm-none-eabi-8-2018-q4-major"
export ZEPHYR_TOOLCHAIN_VARIANT="gnuarmemb"

source modules/libmicroros/zephyr/zephyr/zephyr-env.sh
west build -b disco_l475_iot1 micro_ros_zephyr_module

RANLIB patch applied!!!

gcc-arm-none-eabi-8-2018-q4-major/arm-none-eabi/lib/thumb/v7e-m/nofp/libc.a(lib_a-fini.o): in function __libc_fini_array': fini.c:(.text.__libc_fini_array+0x26): undefined reference to _fini'

Build issue with Zephyr 3.1

Hi, I'm having a build issue with the rcutils package after doing a clean zephyr workspace setup and then cloning the repo:

I'm on Ubuntu 20.04, with zephyr-sdk 0.14.2
West and cmake versions are shown at the bottom...

Any guidance would be highly appreciated. I've been able to successfully build Zephyr+MicroROS using the micro_ros_setup ROS2 package, but I'd prefer to use the zephyr module since I have a lot of existing zephyr-based applications already.

Starting >>> rcl_logging_interface
--- stderr: rosidl_runtime_c
CMake Warning at /home/chris.granz/zephyrproject/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /home/chris.granz/zephyrproject/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)


CMake Error at /home/chris.granz/zephyrproject/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install/share/rcutils/cmake/ament_cmake_export_targets-extras.cmake:18 (message):
  Failed to find exported target names in
  '/home/chris.granz/zephyrproject/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install/share/rcutils/cmake/rcutilsExport.cmake'
Call Stack (most recent call first):
  /home/chris.granz/zephyrproject/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)


---
Failed   <<< rosidl_runtime_c [0.46s, exited with code 1]
Aborted  <<< rcl_logging_interface [0.43s]
Aborted  <<< tracetools_read [3.54s]
Aborted  <<< tracetools_trace [3.66s]
Aborted  <<< rosidl_cli [3.81s]
Aborted  <<< microxrcedds_client [1.63s]

Summary: 6 packages finished [5.94s]
  1 package failed: rosidl_runtime_c
  5 packages aborted: microxrcedds_client rcl_logging_interface rosidl_cli tracetools_read tracetools_trace
  5 packages had stderr output: microcdr microxrcedds_client rcl_logging_interface rcutils rosidl_runtime_c
  50 packages not processed
make: *** [libmicroros.mk:103: /home/chris.granz/zephyrproject/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install] Error 1
ninja: build stopped: subcommand failed.
FATAL ERROR: command exited with status 1: /usr/bin/cmake --build /home/chris.granz/zephyrproject/build

chris.granz@dell-fd6b163:~/zephyrproject$ west --version
West version: v0.13.1

chris.granz@dell-fd6b163:~/zephyrproject$ cmake --version
cmake version 3.24.0

Pip dependencies error while running Zephyr Emulator tutorial

I am trying to run the Zephyr emulator tutorial in a VS code's dev container using a ros:humble image.

Steps to reproduce the issue

I cloned the Micro-ROS setup repo and launched the dev container which is running rosdep and building the initial workspace.

Expected behavior

Create step is effectively creating the firmware folder.

Actual behavior

The create step yields the following error (when running pip install --force-reinstall Sphinx==4.2.0 ):

ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.
sphinx-tabs 3.2.0 requires docutils~=0.16.0, but you have docutils 0.17.1 which is incompatible.
sphinx-rtd-theme 0.5.2 requires docutils<0.17, but you have docutils 0.17.1 which is incompatible.

Additional information

It looks like the conflicts are coming from firmware/zephyrproject/zephyr/scripts/requirements-doc.txt where specified sphinx version is 3.*