I have been trying to implement the micro-ros in the i.MX93 (it has an m33 core mcu).
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Assessment
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Newbie friendliness
- 20/100
- Issue type
- Bug
- Clarity
- Needs clarification
- Activity status
- Stale
- Tech stack
- c
- Domain
- embedded-iot, robotics
Research direction
Start with the attached uros_transport.c, hello_world.c, and timer.c files, tracing the call to rclc_executor_spin_some() and the clock_gettime() values on the i.MX93 M33 core. Compare the executor path with the manually working rcl_publish() path. Done means identifying the cause of the non-working executor and documenting whether the clock input or static library setup is responsible.
Written by the indexing model from the issue text.
Description
I have been trying to implement the micro-ros in the i.MX93 (it has an m33 core mcu).
What's already done:
- Created a static library and linked to the mcuxpresso ide.
- Implemented a custom transport function.
- The setup has connected with the micro-ros agent, node and topic published.
But...
The rclc_executor_spin_some() is not working, i have tried multiple ways to invoke this but still can't figure out. My assumption reagarding the issue is that the time i am providing to the clock_gettime().
I have debugged the time functions of the mcu and getting the ticks values properly. But still the executor() is not working.
When the rcl_publish() is manually invoked the data is publishing to the topic.
How can i debug this issue. Will there be any issue with the static library that i have made first? if that's the case will this much steps work with the current setup?
How should i feed the time to the clock_gettime() ? if this ticks converted to sec and nsec not enough?
I have attached the files with this post, ROS Experts please help me.
Thank you.
uros_transport.c
hello_world.c
timer.c
Originally posted by @Anandhu-Sudha in https://github.com/micro-ROS/micro_ros_setup/discussions/802
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- Merged PRs (30d)
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Contributor guide
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