STM32マイコンで micro-ROS を動かそう！

この記事はダーディット株式会社の技術ブログからのサルベージ品です。

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代表の遠藤です。

前回の記事では、micro-ROS の紹介と、前段階として FreeRTOS のインストール手順をご紹介いたしました。

今回は、micro-ROS を STM32 マイコンで動かしてみたいと思います！

参考サイト

下記の公式 GitHub が参考になります。

やってみた

(1): STM32CubeMX でプロジェクトを生成する

公式 GitHub では、公式のリポジトリをクローンして使えと書いてありますが、なんか気に食わないのでスクラッチで起こしたいと思います。

STM32CubeIDE単体だといろいろと設定がやりずらいので、まずは STM32CubeMX を使ってもろもろの設定をやってしまいます。手順は次の通りです。

STM32CubeMX を起動する
画面真ん中にある “New Project” の下にある “ACCESS TO BOARD SELECTOR” をクリックする
Commercial Part Number の欄に “NUCLEO-F103RB” を入力し、出てきたボードを選択し、右上の “Start Project” をクリック
“Initialize all peripherals with ther default Mode?” の質問に “Yes” と答える
画面上部中央の “Project manager” をクリック、左側が “Project” が選択されていることを確認
1. Project Name と Project Location を適当に入力
2. Toolchain/IDE のドロップダウンリストをクリックし、 “Makefile” を選択
次に左側の “Code Generator” を選択し
1. “STM32Cube MCU packages and embedded software packs” は “Copy only the necessary library files” を選択
2. 他はいじりたいところがあったらいじる
画面上部左の “Pinout & Configuration” をクリックし、左側の “System Core” -> SYS を選択する
1. Timebase Source のドロップダウンリストをクリックし、 “TIM1” を選択する
左側の “Middleware” -> “FREERTOS” を選択する
1. Interface のドロップダウンリストを選択し、“CMSIS_V2” を選択する
2. Config parameters を選択
  1. TOTAL_HEAP_SIZE を 15360 Bytes にする
3. Tasks and Queues を選択
  1. defaultTask の Stack Size を 3000 Words に設定する
画面右上の “GENERATE CODE” をクリックし、コードを生成する

(2): STM32CubeIDE にプロジェクトを引き継ぐ

プロジェクトの設定は STM32CubeMX が便利ですが、コードの編集はさておき、デバッグ作業等は STM32CubeIDE のほうがやりやすいです。次の手順で、先ほど生成したプロジェクトを STM32CubeIDE に引き継ぎます。

STM32CubeIDE を開く
File -> New -> “STM32 Project” を開く
Board Selector で NUCLEO-F103RB を選択し、Next
Project Name を適当に設定した後、 “Target Project Type” を Empty に設定して Finish を押す

これで、プロジェクトが生成されます。次に、STM32CubeMX で生成したプロジェクトを引き継ぎます。

STM32CubeIDE の Project Explorer より、プロジェクト内のすべてのファイルを消す
STM32CubeMX で生成したファイルをドラッグ&ドロップし、すべてをコピーする

最後に、ビルド設定を変更します。

Project Explorer で右クリック -> Build Configurations -> Manage をクリック
1. New を押し、“Default” というビルド設定を追加
2. Default の設定を “Set Active” でアクティブにする
3. Debug と Relese の設定を削除する
Project Explorer で右クリック -> Properties をクリック
C/C++ Build をクリック
1. Builder Settings タブを開く
2. Makefile Generation の “Generate Makefiles automatically” のチェックを外す
3. Build location の “Build directory: " のテキストボックスを選択し、末尾の /Debug を消す
4. Apply & Close をクリック

プロジェクトが引き継がれたら、次の操作をして Makefile が書き換えられることを防ぎます。

Project Explorer で右クリック -> Properties
C/C++ Build をクリック
1. Configuration: を All Configuration に設定
2. Builder Settings タブを開く
3. Makefile Generation の “Generate Makefiles automatically” のチェックを外す
4. Apply & Close をクリック

(3): micro-ROS 公式 GitHub から必要なファイルをコピーする

公式 GitHub のリポジトリをクローンし、そこから以下のディレクトリを STM32CubeIDE のプロジェクトにコピーします

extra_sources
microros_static_library

(4): Makefile を更新する

上記 Step(3) でコピーしたファイルをビルドできるよう、Makefile を更新します。

具体的には、 Makefile の164行目付近に、下記の記述を追加します。

#######################################
# micro-ROS addons
#######################################
LDFLAGS += microros_static_library/libmicroros/libmicroros.a
C_INCLUDES += -Imicroros_static_library/libmicroros/microros_include

# Add micro-ROS utils
C_SOURCES += extra_sources/custom_memory_manager.c
C_SOURCES += extra_sources/microros_allocators.c
C_SOURCES += extra_sources/microros_time.c

# Set here the custom transport implementation
C_SOURCES += extra_sources/microros_transports/dma_transport.c

print_cflags:
	@echo $(CFLAGS)

(5): micro-ROS のライブラリーをビルドする

bash等の窓を開き、プロジェクトのディレクトリに移動した後、下記のコマンドを実行します。

$ docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=microros_static_library microros/micro_ros_static_library_builder:humble

(6): Let’s build!!!

めっちゃ怒られます。

make -j8 all 
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/main.d" -Wa,-a,-ad,-alms=build/main.lst Core/Src/main.c -o build/main.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/freertos.d" -Wa,-a,-ad,-alms=build/freertos.lst Core/Src/freertos.c -o build/freertos.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_it.d" -Wa,-a,-ad,-alms=build/stm32f1xx_it.lst Core/Src/stm32f1xx_it.c -o build/stm32f1xx_it.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_msp.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_msp.lst Core/Src/stm32f1xx_hal_msp.c -o build/stm32f1xx_hal_msp.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_timebase_tim.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_timebase_tim.lst Core/Src/stm32f1xx_hal_timebase_tim.c -o build/stm32f1xx_hal_timebase_tim.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_gpio_ex.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_gpio_ex.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c -o build/stm32f1xx_hal_gpio_ex.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c -o build/stm32f1xx_hal.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_rcc.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_rcc.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c -o build/stm32f1xx_hal_rcc.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_rcc_ex.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_rcc_ex.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c -o build/stm32f1xx_hal_rcc_ex.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_gpio.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_gpio.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c -o build/stm32f1xx_hal_gpio.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_dma.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_dma.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c -o build/stm32f1xx_hal_dma.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_cortex.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_cortex.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c -o build/stm32f1xx_hal_cortex.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_pwr.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_pwr.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c -o build/stm32f1xx_hal_pwr.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_flash.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_flash.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c -o build/stm32f1xx_hal_flash.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_flash_ex.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_flash_ex.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c -o build/stm32f1xx_hal_flash_ex.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_exti.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_exti.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c -o build/stm32f1xx_hal_exti.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_tim.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_tim.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c -o build/stm32f1xx_hal_tim.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_tim_ex.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_tim_ex.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c -o build/stm32f1xx_hal_tim_ex.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stm32f1xx_hal_uart.d" -Wa,-a,-ad,-alms=build/stm32f1xx_hal_uart.lst Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c -o build/stm32f1xx_hal_uart.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/system_stm32f1xx.d" -Wa,-a,-ad,-alms=build/system_stm32f1xx.lst Core/Src/system_stm32f1xx.c -o build/system_stm32f1xx.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/croutine.d" -Wa,-a,-ad,-alms=build/croutine.lst Middlewares/Third_Party/FreeRTOS/Source/croutine.c -o build/croutine.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/event_groups.d" -Wa,-a,-ad,-alms=build/event_groups.lst Middlewares/Third_Party/FreeRTOS/Source/event_groups.c -o build/event_groups.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/list.d" -Wa,-a,-ad,-alms=build/list.lst Middlewares/Third_Party/FreeRTOS/Source/list.c -o build/list.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/queue.d" -Wa,-a,-ad,-alms=build/queue.lst Middlewares/Third_Party/FreeRTOS/Source/queue.c -o build/queue.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/stream_buffer.d" -Wa,-a,-ad,-alms=build/stream_buffer.lst Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c -o build/stream_buffer.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/tasks.d" -Wa,-a,-ad,-alms=build/tasks.lst Middlewares/Third_Party/FreeRTOS/Source/tasks.c -o build/tasks.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/timers.d" -Wa,-a,-ad,-alms=build/timers.lst Middlewares/Third_Party/FreeRTOS/Source/timers.c -o build/timers.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/cmsis_os2.d" -Wa,-a,-ad,-alms=build/cmsis_os2.lst Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c -o build/cmsis_os2.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/heap_4.d" -Wa,-a,-ad,-alms=build/heap_4.lst Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c -o build/heap_4.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/port.d" -Wa,-a,-ad,-alms=build/port.lst Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c -o build/port.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/custom_memory_manager.d" -Wa,-a,-ad,-alms=build/custom_memory_manager.lst extra_sources/custom_memory_manager.c -o build/custom_memory_manager.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/microros_allocators.d" -Wa,-a,-ad,-alms=build/microros_allocators.lst extra_sources/microros_allocators.c -o build/microros_allocators.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/microros_time.d" -Wa,-a,-ad,-alms=build/microros_time.lst extra_sources/microros_time.c -o build/microros_time.o
arm-none-eabi-gcc -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/dma_transport.d" -Wa,-a,-ad,-alms=build/dma_transport.lst extra_sources/microros_transports/dma_transport.c -o build/dma_transport.o
arm-none-eabi-gcc -x assembler-with-cpp -c -mcpu=cortex-m3 -mthumb   -DUSE_HAL_DRIVER -DSTM32F103xB -ICore/Inc -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy -IDrivers/STM32F1xx_HAL_Driver/Inc -IMiddlewares/Third_Party/FreeRTOS/Source/include -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM3 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include -IDrivers/CMSIS/Include -Imicroros_static_library/libmicroros/microros_include -Og -Wall -fdata-sections -ffunction-sections -g -gdwarf-2 -MMD -MP -MF"build/startup_stm32f103xb.d" startup_stm32f103xb.s -o build/startup_stm32f103xb.o
extra_sources/microros_transports/dma_transport.c:1:10: fatal error: uxr/client/transport.h: No such file or directory
    1 | #include <uxr/client/transport.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make: *** [Makefile:192: build/dma_transport.o] Error 1
make: *** Waiting for unfinished jobs....
extra_sources/microros_time.c: In function 'clock_gettime':
extra_sources/microros_time.c:32:5: error: unknown type name 'TimeOut_t'
   32 |     TimeOut_t xCurrentTime = { 0 };
      |     ^~~~~~~~~
extra_sources/microros_time.c:44:5: warning: implicit declaration of function 'vTaskSetTimeOutState' [-Wimplicit-function-declaration]
   44 |     vTaskSetTimeOutState( &xCurrentTime );
      |     ^~~~~~~~~~~~~~~~~~~~
extra_sources/microros_time.c:48:47: error: request for member 'xOverflowCount' in something not a structure or union
   48 |     ullTickCount = ( uint64_t ) ( xCurrentTime.xOverflowCount ) << ( sizeof( TickType_t ) * 8 );
      |                                               ^
extra_sources/microros_time.c:51:33: error: request for member 'xTimeOnEntering' in something not a structure or union
   51 |     ullTickCount += xCurrentTime.xTimeOnEntering;
      |                                 ^
make: *** [Makefile:192: build/microros_time.o] Error 1
"make -j8 all" terminated with exit code 2. Build might be incomplete.

19:51:31 Build Failed. 7 errors, 1 warnings. (took 22s.826ms)

どうやら GitHub からコピペしたファイルが問題があるようです。この問題を何とか解決すべく、頑張りたいと思います。

とりあえず今回はここまで。