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commit 98d3a0bcb051e04c22f880fe5292ec7e89dbf991 Author: Arjav Patel <[email protected]> AuthorDate: Sat May 23 05:43:58 2026 +0000 apps/system/microros: add colcon.meta.in resource-limit template. Add a colcon.meta.in template that is substituted at build time with Kconfig values. Key settings: - Custom transport only (UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON, UCLIENT_PROFILE_STREAM_FRAMING=ON) -- actual UDP/serial callbacks are wired in Phase 4. - RCL_MICROROS=ON (Jazzy/Kilted renamed flag replacing the old RCL_COMMAND_LINE_ENABLED/RCL_LOGGING_ENABLED pair). - RCUTILS_NO_FILESYSTEM=OFF -- NuttX provides POSIX filesystem. - Resource limits use @MAX_NODES@/@MAX_PUBLISHERS@ etc. placeholders substituted from CONFIG_MICROROS_MAX_* Kconfig values. Signed-off-by: Arjav Patel <[email protected]> --- system/microros/micro_ros_lib/colcon.meta.in | 52 ++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) diff --git a/system/microros/micro_ros_lib/colcon.meta.in b/system/microros/micro_ros_lib/colcon.meta.in new file mode 100644 index 000000000..00468545b --- /dev/null +++ b/system/microros/micro_ros_lib/colcon.meta.in @@ -0,0 +1,52 @@ +{ + "names": { + "microxrcedds_client": { + "cmake-args": [ + "-DUCLIENT_PIC=OFF", + "-DUCLIENT_PROFILE_DISCOVERY=OFF", + "-DUCLIENT_PROFILE_UDP=OFF", + "-DUCLIENT_PROFILE_TCP=OFF", + "-DUCLIENT_PROFILE_SERIAL=OFF", + "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON", + "-DUCLIENT_PROFILE_STREAM_FRAMING=ON", + "-DUCLIENT_EXTERNAL_SERIAL=ON" + ] + }, + "rmw_microxrcedds": { + "cmake-args": [ + "-DRMW_UXRCE_TRANSPORT=custom", + "-DRMW_UXRCE_MAX_NODES=@MAX_NODES@", + "-DRMW_UXRCE_MAX_PUBLISHERS=@MAX_PUBLISHERS@", + "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=@MAX_SUBSCRIPTIONS@", + "-DRMW_UXRCE_MAX_SERVICES=@MAX_SERVICES@", + "-DRMW_UXRCE_MAX_CLIENTS=@MAX_CLIENTS@", + "-DRMW_UXRCE_MAX_HISTORY=4" + ] + }, + "rcl": { + "cmake-args": [ + "-DRCL_MICROROS=ON" + ] + }, + "rcutils": { + "cmake-args": [ + "-DRCUTILS_NO_FILESYSTEM=OFF", + "-DRCUTILS_NO_THREAD_SUPPORT=ON", + "-DRCUTILS_NO_64_ATOMIC=ON", + "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON", + "-DENABLE_TESTING=OFF" + ] + }, + "rosidl_typesupport": { + "cmake-args": [ + "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON" + ] + }, + "tracetools": { + "cmake-args": [ + "-DTRACETOOLS_DISABLED=ON", + "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF" + ] + } + } +}
