Fix meta file selection and change rtps branch (backport #31) (#32)

* Fix meta file selection and change rtps branch (#31) * Fix meta file selection * Update colcon meta * Fix ident * Update microros_static_library_ide/library_generation/library_generation.sh (cherry picked from commit 521df11) * Set branchs to main Co-authored-by: Antonio Cuadros <[email protected]> Co-authored-by: Antonio Cuadros <[email protected]>
micro-ROS · Oct 18, 2021 · 0aac1fc · 0aac1fc
1 parent ac009ef
commit 0aac1fc
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Showing 2 changed files with 16 additions and 8 deletions.
diff --git a/microros_static_library_ide/library_generation/colcon-embeddedrtps.meta b/microros_static_library_ide/library_generation/colcon-embeddedrtps.meta
@@ -6,8 +6,14 @@
                 "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
             ]
         },
-        "rcl":{
-            "cmake-args":[
+        "rosidl_typesupport": {
+            "cmake-args": [
+                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
+            ]
+        },
+        "rcl": {
+            "cmake-args": [
+                "-DBUILD_TESTING=OFF",
                 "-DRCL_COMMAND_LINE_ENABLED=OFF",
                 "-DRCL_LOGGING_ENABLED=OFF"
             ]
@@ -27,7 +33,9 @@
                 "-DERTPS_MAX_SUBSCRIPTIONS=2",
                 "-DERTPS_MAX_SERVICES=1",
                 "-DERTPS_MAX_CLIENTS=1",
-                "-DERTPS_MAX_HISTORY=10"
+                "-DERTPS_PROXIES_PER_WRITER=5",
+                "-DERTPS_PROXIES_PER_READER=5",
+                "-DERTPS_MAX_UDP_CONNECTIONS=15"
             ]
         }
     }

diff --git a/microros_static_library_ide/library_generation/library_generation.sh b/microros_static_library_ide/library_generation/library_generation.sh
@@ -53,8 +53,8 @@ pushd firmware/mcu_ws > /dev/null
         rm -rf eProsima/Micro-XRCE-DDS-Client
         rm -rf uros/rmw_microxrcedds
 
-        git clone -b galactic https://github.com/micro-ROS/rmw_embeddedrtps uros/rmw_embeddedrtps
-        git clone -b working_cubeide https://github.com/pablogs9/embeddedRTPS uros/embeddedRTPS
+        git clone -b main https://github.com/micro-ROS/rmw_embeddedrtps uros/rmw_embeddedrtps
+        git clone -b main https://github.com/pablogs9/embeddedRTPS uros/embeddedRTPS
     fi
 
 popd > /dev/null
@@ -63,9 +63,9 @@ popd > /dev/null
 export TOOLCHAIN_PREFIX=/usr/bin/arm-none-eabi-
 
 if [ -z ${MICROROS_USE_EMBEDDEDRTPS+x} ]; then
-    ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon.meta
-else
     ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon-embeddedrtps.meta
+else
+    ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon.meta
 fi
 
 find firmware/build/include/ -name "*.c"  -delete
@@ -85,4 +85,4 @@ for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git
 ######## Fix permissions ########
 sudo chmod -R 777 $BASE_PATH/libmicroros/
 sudo chmod -R 777 $BASE_PATH/libmicroros/include/
-sudo chmod -R 777 $BASE_PATH/libmicroros/libmicroros.a
+sudo chmod -R 777 $BASE_PATH/libmicroros/libmicroros.a