Error building micro-ROS component on Raspberry Pi 4 with ESP32

Start with the micro_ros_setup README's firmware-creation steps and the create_firmware_ws.sh command on linux-arm64. Then inspect the micro_ros_espidf_component example, its components layout, main/main.c, and the reported build logs for the missing uros_network_interfaces.h. Done means the Raspberry Pi compatibility and example layout are verified and the documentation or build issue is addressed.

Issue template

• Hardware description:

  • Raspberry Pi 4
  • esp32 WROOM

• RTOS: freertos on esp32

• Installation type: tried micro_ros_setup but got error (mentioned below). Tried installing ESP-IDF directly and then using micro-ROS component for ESP-IDF. (More errors mentioned below)

• Version or commit hash:

  • installed ROS 2 humble on Rapsberry Pi
  • ESP-IDF (v5.0)

Description

I first tried installing micro_ros_setup. The build process was okay but when creating micro-ROS firmware by running the following command,

ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

I get the following error

Installing ESP-IDF tools
Installing tools: xtensa-esp32-elf, xtensa-esp32s2-elf, esp32ulp-elf, esp32s2ulp-elf, openocd-esp32
ERROR: tool xtensa-esp32-elf does not have versions compatible with platform linux-arm64
[ros2run]: Process exited with failure 1

It seems like micro_ros_setup is not compatible with raspberry pi 4.

So instead, I installed the ESP-IDF following this link. I was able to flash the hello_world example. The version I installed was v5.0 since it states that micro-ROS component has been tested in ESP-IDF v4.3, v4.4, and v5.0 with ESP32 shown here.

ubuntu@ubuntu:~$ idf.py --version
ESP-IDF v5.0.1-397-g3050ea656f

I wanted to ask

1. Can micro_ros_setup work for raspberry pi 4? Or is it not compatible for linux-arm64?

2. I think the Example section can be elaborated. In the example shown here, why isn't components directory created under the int32_publisher directory? Under the Usage section, it states to clone the repo directly in the components folder. Please correct me if I'm wrong.

   I copied the int32_publisher example from the micro_ros_espidf_component(link) into the home directory, created a components directory instead int32_publisher directory and then git cloned micro_ros_espidf_component inside it.

   ubuntu@ubuntu:~/int32_publisher/components$ ls
   micro_ros_espidf_component
   

   Running idf.py build command inside the int32_publisher directory, generates the error below

   MakeFiles/__idf_main.dir/main.c.obj.d -o esp-idf/main/CMakeFiles/__idf_main.dir/main.c.obj   -c ../main/main.c
   ../main/main.c:10:10: fatal error: uros_network_interfaces.h: No such file or directory
      10 | #include <uros_network_interfaces.h>
         |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~
   compilation terminated.
   [844/851] Building C object esp-idf/wifi_provisioning/CMakeFiles/__idf_wifi_provisioning.dir/src/scheme_softap.c.objninja: build stopped: subcommand failed.
   HINT: Please make sure that the header name is correct. Also please check if you've specified all component dependencies with 'idf_component_register(REQUIRES ...)'. If the component is not present then it should be added by the IDF Component Manager. For more information run 'idf.py docs -sp api-guides/build-system.html'.
   Also, please check if the header file has been removed, renamed or relocated - refer to the migration guide for more information.
   ninja failed with exit code 1, output of the command is in the /home/ubuntu/int32_publisher/build/log/idf_py_stderr_output_651110 and /home/ubuntu/int32_publisher/build/log/idf_py_stdout_output_651110
   

   I googled this error but didn't get anything helpful.