Prerequisites

• docker
• ros2 in jazzy

ROS2 package dependencies

• micro-ros-agent in jazzy
• control_msgs

Either install the dependencies locally via the system's package manager, or build from source

Pull/Update submodules

git submodule update --init --recursive

Build micro_ros_stm32cubemx_utils static library

docker pull microros/micro_ros_static_library_builder:jazzy
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=third_party/micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:jazzy

Or just the use the convenient script ./scripts/micro_ros_static_lib_gen.sh

stm32cubemx configuration

• assign a local IP address and a gateway address in stm32cubemx, which should be from the same subnet as micro-ROS agent, and regenerate the configuration files and recompile

host ethernet interface configuration

Configure the host Ethernet interface with the IP address specified in the Makefile for the micro-ROS agent, or use the convenient script ./scripts/configure_ethernet_if.sh for temporarily adding the IP for the ethernet interface

sudo ip a add 192.168.1.101/24 dev <eth interface>
sudo ip link set <eth interface> up

This IP address will be the micro-ROS agent IP address, which the client on the MCU uses for establishing the connection with the agent