feat: Add ROS 2 Lyrical support

.github/workflows/ci.yml

@@ -1,9 +1,13 @@
 name: CI
 
 on:
+    push:
+      branches:
+        - '**'
     pull_request:
       branches:
         - '**'
+    workflow_dispatch:
     schedule:
       - cron: '59 23 * * *' # every day at 23:59 UTC
 
@@ -16,7 +20,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_kilted, portenta_h7_m7_rolling, teensy41_custom, pico, pico2]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_kilted, portenta_h7_m7_lyrical, portenta_h7_m7_rolling, teensy41_custom, pico, pico2]
 
         steps:
         - uses: actions/checkout@v5

README.md

@@ -102,6 +102,7 @@ The target ROS 2 distribution can be configured with the `board_microros_distro
   - `humble`
   - `jazzy`
   - `kilted` *(default value)*
+  - `lyrical`
   - `rolling`
 
 ### Transport configuration

ci/platformio.ini

@@ -1,3 +1,6 @@
+[env]
+board_microros_distro = jazzy
+
 ; Humble test
 [env:portenta_h7_m7_humble]
 platform = ststm32
@@ -28,6 +31,16 @@ board_microros_distro = kilted
 lib_deps =
     ../
 
+; Lyrical test
+[env:portenta_h7_m7_lyrical]
+platform = ststm32
+board = portenta_h7_m7
+framework = arduino
+board_microros_transport = serial
+board_microros_distro = lyrical
+lib_deps =
+    ../
+
 ; Rolling test
 [env:portenta_h7_m7_rolling]
 platform = ststm32
@@ -206,3 +219,4 @@ framework = arduino
 board_microros_transport = custom
 lib_deps =
     ../
+

ci/src/main.cpp

@@ -126,7 +126,7 @@ void setup() {
     &timer,
     &support,
     RCL_MS_TO_NS(100),
-    timer_callback));
+    (rcl_timer_callback_t) timer_callback));
 
   // create executor
   RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));

extra_script.py

@@ -34,8 +34,8 @@
 
 selected_board_meta = boards_metas[board] if board in boards_metas else "colcon.meta"
 
-# Retrieve the required transport. Default kilted
-microros_distro = global_env.BoardConfig().get("microros_distro", "kilted")
+# Retrieve the required distro
+microros_distro = global_env.BoardConfig().get("microros_distro", "")
 
 # Retrieve the required transport. Default serial
 microros_transport = global_env.BoardConfig().get("microros_transport", "serial")
@@ -104,12 +104,13 @@ def build_microros(*args, **kwargs):
         env['CC'],
         env['CXX'],
         env['AR'],
-        "{} {} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CFLAGS']), ' '.join(env['CCFLAGS'])),
+        "{} {} -Wno-error=implicit-function-declaration -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CFLAGS']), ' '.join(env['CCFLAGS'])),
         "{} {} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='".format(' '.join(env['CXXFLAGS']), ' '.join(env['CCFLAGS']))
     )
 
     python_env_path = env['PROJECT_CORE_DIR'] + "/penv/bin/activate"
     builder = library_builder.Build(library_folder=main_path, packages_folder=extra_packages_path, distro=microros_distro, python_env=python_env_path)
+    builder.env = env.get("ENV", os.environ.copy())
     builder.run('{}/metas/{}'.format(main_path, selected_board_meta), cmake_toolchain.path, microros_user_meta)
 
     #######################################################