Zynq-micro-ROS

micro‑ROS en Zynq (Zybo Z7‑10, Cortex‑A9, FreeRTOS) flujo completo (Docker + ROS2 + micro‑ROS + Cortex‑A9 + FreeRTOS).

micro-ROS en Zynq (Zybo Z7-10, Cortex-A9, FreeRTOS)

Guía paso a paso para generar la librería estática de micro-ROS en un entorno reproducible usando Docker (Ubuntu 22.04), con soporte de comunicación por Ethernet (UDP).

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🚀 1. Crear contenedor Docker

Ejecutar en el host:

docker run -it --name microros \
  -v ~/Descargas:/host_files \
  -v /tools/Xilinx:/tools/Xilinx \
  ubuntu:22.04 /bin/bash

📌 Explicación

• /host_files → acceso a archivos del host (configuración), puede ser Descargas o cualquier otra
• /tools/Xilinx → acceso a toolchain de Vitis
• IMPORTANTE: Deben montarse desde el comienzo, luego no se puede modificar
• Entorno completamente aislado

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🧱 2. Instalar dependencias base

Dentro del contenedor:

apt update && apt install -y \
  curl gnupg lsb-release git python3-pip \
  build-essential cmake \
  python3-colcon-common-extensions \
  python3-rosdep

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⚙️ 3. Instalar ROS 2 (Humble)

apt install -y software-properties-common
add-apt-repository universe

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
  > /etc/apt/sources.list.d/ros2.list

apt update
apt install -y ros-humble-desktop

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🔧 4. Inicializar rosdep

rosdep init
rosdep update

⚠️ Importante:

• rosdep init → requiere permisos root (en Docker ya lo eres)
• rosdep update → ejecutar sin sudo

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📁 5. Crear workspace micro-ROS

source /opt/ros/humble/setup.bash

mkdir ~/microros_ws
cd ~/microros_ws

git clone https://github.com/micro-ROS/micro_ros_setup src/micro_ros_setup

rosdep install --from-paths src --ignore-src -y

colcon build
source install/setup.bash

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🧪 6. Generar firmware

ros2 run micro_ros_setup create_firmware_ws.sh generate_lib

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📁 7. Preparar configuración

mkdir ~/microros_ws/config

Copiar archivos desde el host:

⚠️ Importante:

• Los ficheros deben estar en la carpeta Descargas o la que se haya montado con acceso del docker al host.

cp /host_files/xilinx_zynq_colcon.meta ~/microros_ws/config/
cp /host_files/xilinx_zynq_toolchain.cmake.cmake ~/microros_ws/config/

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⚙️ 8. Configuración xilinx_zynq_colcon.meta

✅ Versión final (Ethernet UDP + FreeRTOS)

Importados y adaptados de: https://github.com/HaoguangYang/microros-zynq

{
    "names": {
        "tracetools": {
            "cmake-args": [
                "-DTRACETOOLS_DISABLED=ON",
                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
            ]
        },
        "rosidl_typesupport": {
            "cmake-args": [
                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
            ]
        },
        "rcl": {
            "cmake-args": [
                "-DBUILD_TESTING=OFF",
                "-DRCL_COMMAND_LINE_ENABLED=OFF",
                "-DRCL_LOGGING_ENABLED=OFF"
            ]
        },
        "rcutils": {
            "cmake-args": [
                "-DENABLE_TESTING=OFF",
                "-DRCUTILS_NO_FILESYSTEM=ON",
                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
                "-DRCUTILS_NO_64_ATOMIC=ON",
                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
            ]
        },
        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_TCP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=OFF",
                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
                "-DUCLIENT_PLATFORM_FREERTOS_PLUS_TCP=OFF",
                "-DUCLIENT_PROFILE_MULTITHREAD=OFF",
                "-DUCLIENT_PROFILE_SHARED_MEMORY=ON"
            ]
        },
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=16",
                "-DRMW_UXRCE_MAX_PUBLISHERS=32",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=32",
                "-DRMW_UXRCE_MAX_SERVICES=16",
                "-DRMW_UXRCE_MAX_CLIENTS=16",
                "-DRMW_UXRCE_MAX_HISTORY=8",
                "-DRMW_UXRCE_TRANSPORT=custom"
            ]
        }
    }
}

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⚙️ 9. Toolchain (xilinx_zynq_toolchain.cmake)

✅ Cortex-A9 + Vitis

set(CMAKE_SYSTEM_NAME Generic)

set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

# SET HERE THE PATH TO YOUR C99 AND C++ COMPILERS
set(CMAKE_C_COMPILER /tools/Xilinx/Vitis/2022.2/gnu/aarch32/lin/gcc-arm-none-eabi/bin/arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER /tools/Xilinx/Vitis/2022.2/gnu/aarch32/lin/gcc-arm-none-eabi/bin/arm-none-eabi-g++)

set(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
set(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")

# SET HERE YOUR BUILDING FLAGS
set(FLAGS "-Wall -Wextra -Os -ffunction-sections -fdata-sections -nostdlib -flto -mthumb -mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard -mtune=cortex-a9 -DCLOCK_MONOTONIC=0" CACHE STRING "" FORCE)

set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -Wall -O3 -c -fmessage-length=0 -MT\"$@\"" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -Wall -O3 -c -fmessage-length=0 -MT\"$@\"" CACHE STRING "" FORCE)

set(__BIG_ENDIAN__ 0)

# NOTE:
#
# For Xilinx board running FreeRTOS, to use hard-real-time task scheduling, a
# good practice is to create timers as periodic tasks, and implement an advanced
# scheduler (if the stock Round-Robin scheduler is not enough).
#
# Use of FreeRTOS plus TCP is not a must, unless you want to utilize its TCP for
# transport. In such case, you need to set:
# "-DUCLIENT_PLATFORM_FREERTOS_PLUS_TCP=ON"
# under the colcon.meta file for the board, under the "microxrcedds_client"
# section.

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🔨 10. Compilar micro-ROS

cd ~/microros_ws

ros2 run micro_ros_setup build_firmware.sh \
  $(pwd)/config/xilinx_zynq_toolchain.cmake \
  $(pwd)/config/xilinx_zynq_colcon.meta

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📦 11. Resultado

firmware/build/libmicroros.a

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🌐 12. Ejecutar agente ROS2

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

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⚠️ Problemas comunes

Problema	Causa
toolchain no encontrado	/tools/Xilinx no montado
no conecta ROS2	UDP deshabilitado
fallo en runtime red	falta stack TCP/IP
build falla	flags incorrectos

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🧠 Notas

• Cortex-A9 → ARM 32-bit
• FreeRTOS → entorno bare-metal (sin Linux)
• micro-ROS genera librería independiente del sistema

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✅ Comandos útiles

Entrar al contenedor:

docker start microros
docker exec -it microros /bin/bash

Alias opcional:

alias microros="docker exec -it microros /bin/bash"

Lanzar ROS2:

source /opt/ros/humble/setup.bash
source ~/microros_ws/install/setup.bash

#Comprobamos que está sourceado
which ros2

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🚀 Próximos pasos

• Integrar libmicroros.a en Vitis
• Configurar red (FreeRTOS+TCP)
• Implementar nodo micro-ROS

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