This repository prototypes ROS 2.0 for embedded systems using NuttX in the STM32F4Discovery board.

• Quick overview/understand fo the OMG DDS standart
• Evaluate different Open Source DDS implementations and select one meant for embedded devices (Tinq selected)
• Prototype with FreeRTOS (discarded)
• Prototype with Riot (discarded)
• Prototype with NuttX (current prototype)
• Use the network stack to create a simple UDP/IP example over Ethernet
• NSH (NuttX Shell) infraestructure set up
• Adjust DDS interfaces to match with NuttX (pseudo-POSIX)
• DDS compiling and linking on top of NuttX
• Code small enough to fit in RAM and ROM (112 KB and 1 MB respectively)
• DDS chat application running
• DDS Debug Shell available
• Tinq-embedded <-> Tinq Desktop interoperability (DDS embedded - DDS Desktop)
• Tinq-embedded <-> OpenSplice Desktop interoperability
• RCL construction
• Real Time assessment
• Hardware frontier

###Hardware The hardware used for this prototype is the STM32F4Discovery board together with the STM32F4-BB.

The board is connected to the computer using USB. This connection is used to power up the board, program and debug (through STLINK). PD5, PD6 and GND are used as the serial connection (for development and debugging purposes, NSH, etc). An Ethernet cable is connected from the STM32F4-BB to the working station.

###Setting it up

git clone http://ymorin.is-a-geek.org/git/kconfig-frontends
cd kconfig-frontends/
sudo apt-get install gperf
sudo apt-get install flex
sudo apt-get install bison
sudo apt-get install libncurses5-dev
./bootstrap
./configure
make
sudo make install
sudo /sbin/ldconfig -v

There're are several configurations for the different applications. The following example shows how to use the hello world one:

cd nuttx/tools
./configure stm32f4discovery/hello

####Building

    cd nuttx/
    make menuconfig # optional
    make 

####Programming

make program

####Debugging

cd nuttx/
make gdb_server

In another terminal (same directory):

make gdb

###UDP testing If NSH is launched with the right debug options, it can be used to test UDP traffic. On the remote machine do:

 sudo mz eth0 -c 10 -A 192.168.0.2 -B 192.168.0.3 -t udp -p 100

You should see incoming packages in the NSH.