working implementation

2025-08-22 16:20:41 +02:00
parent ef5035b92b
commit 0bb1b5d026
26 changed files with 1104 additions and 257 deletions
--- a/modules/libmicroros/.gitignore
+++ b/modules/libmicroros/.gitignore
@@ -0,0 +1,6 @@
+micro_ros_dev
+micro_ros_src
+zephyr_toolchain.cmake
+include
+configured_colcon.meta
+*.a
--- a/modules/libmicroros/CMakeLists.txt
+++ b/modules/libmicroros/CMakeLists.txt
@@ -0,0 +1,107 @@
+# SPDX-License-Identifier: Apache-2.0
+
+if(CONFIG_MICROROS)
+
+set(MICROROS_DIR ${ZEPHYR_CURRENT_MODULE_DIR})
+
+if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
+set(submake "$(MAKE)")
+else()
+set(submake "make")
+endif()
+
+# micro-ROS library
+
+zephyr_get_include_directories_for_lang_as_string(       C includes)
+zephyr_get_system_include_directories_for_lang_as_string(C system_includes)
+zephyr_get_compile_definitions_for_lang_as_string(       C definitions)
+zephyr_get_compile_options_for_lang_as_string(           C options)
+
+zephyr_get_include_directories_for_lang_as_string(       CXX includes_cxx)
+zephyr_get_system_include_directories_for_lang_as_string(CXX system_includes_cxx)
+zephyr_get_compile_definitions_for_lang_as_string(       CXX definitions_cxx)
+zephyr_get_compile_options_for_lang_as_string(           CXX options_cxx)
+
+set(external_project_cflags
+    "${includes} ${definitions} ${options} ${system_includes}"
+    )
+
+set(external_project_cxxflags
+    "${includes_cxx} ${definitions_cxx} ${options_cxx} ${system_includes_cxx}"
+    )
+
+include(ExternalProject)
+
+externalproject_add(libmicroros_project
+    PREFIX     ${CMAKE_BINARY_DIR}/libmicroros-prefix
+    SOURCE_DIR ${MICROROS_DIR}
+    BINARY_DIR ${MICROROS_DIR}
+    CONFIGURE_COMMAND ""
+    BUILD_COMMAND
+        ${submake} -f libmicroros.mk
+            X_CFLAGS=${external_project_cflags}
+            X_CXXFLAGS=${external_project_cxxflags}
+            X_CC=${CMAKE_C_COMPILER}
+            X_AR=${CMAKE_AR}
+            X_RANLIB=${CMAKE_RANLIB}
+            X_CXX=${CMAKE_CXX_COMPILER}
+            COMPONENT_PATH=${MICROROS_DIR}
+            ZEPHYR_BASE=${ZEPHYR_BASE}
+            PROJECT_BINARY_DIR=${PROJECT_BINARY_DIR}
+    INSTALL_COMMAND ""
+    BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a
+    )
+
+zephyr_link_libraries(${MICROROS_DIR}/libmicroros.a)
+
+zephyr_interface_library_named(microros)
+add_dependencies(microros libmicroros_project)
+target_include_directories(microros INTERFACE ${MICROROS_DIR}/include)
+
+execute_process(
+    COMMAND
+        make -f libmicroros.mk get_package_names
+            COMPONENT_PATH=${MICROROS_DIR}
+    WORKING_DIRECTORY
+        ${MICROROS_DIR}
+    OUTPUT_VARIABLE
+        INCLUDE_ROS2_PACKAGES
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+foreach(pkg ${INCLUDE_ROS2_PACKAGES})
+    target_include_directories(microros INTERFACE ${MICROROS_DIR}/include/${pkg})
+endforeach()
+
+# micro-ROS transport library
+
+if(CONFIG_MICROROS_TRANSPORT_SERIAL)
+    set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/serial)
+elseif(CONFIG_MICROROS_TRANSPORT_SERIAL_USB)
+    set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/serial-usb)
+elseif(CONFIG_MICROROS_TRANSPORT_UDP)
+    set(MICROROS_TRANSPORT_DIR ${MICROROS_DIR}/microros_transports/udp)
+else()
+    message(FATAL_ERROR Please set a micro-ROS transport)
+endif()
+
+zephyr_library_named(microros_transports)
+zephyr_include_directories(${MICROROS_DIR}/include)
+zephyr_include_directories(${MICROROS_TRANSPORT_DIR})
+
+zephyr_library_sources(
+   ${MICROROS_TRANSPORT_DIR}/microros_transports.c
+)
+
+add_dependencies(microros microros_transports)
+add_dependencies(microros_transports libmicroros_project)
+
+# Cleaning
+
+set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
+    ${MICROROS_DIR}/include
+    ${MICROROS_DIR}/configured_colcon.meta
+    ${MICROROS_DIR}/zephyr_toolchain.cmake
+    )
+
+endif()
--- a/modules/libmicroros/Kconfig
+++ b/modules/libmicroros/Kconfig
@@ -0,0 +1,113 @@
+menuconfig MICROROS
+    bool
+	default n
+    prompt "micro-ROS Support"
+    select APP_LINK_WITH_MICROROS
+    help
+        Enables a micro-ROS library
+
+if MICROROS
+    config APP_LINK_WITH_MICROROS
+        bool "Link 'app' with MICROROS"
+        default n
+        help
+            Add MICROROS header files to the 'app' include path. 
+   
+    choice
+        prompt "micro-ROS transport"
+        
+        config MICROROS_TRANSPORT_SERIAL
+            bool "micro-ROS serial transport"
+            select RING_BUFFER
+        config MICROROS_TRANSPORT_SERIAL_USB
+            bool "micro-ROS USB serial transport"
+             select RING_BUFFER
+             select USB_DEVICE_STACK
+        config MICROROS_TRANSPORT_UDP
+            bool "micro-ROS UDP network transport"
+        
+    endchoice
+
+    if MICROROS_TRANSPORT_UDP
+        config MICROROS_AGENT_IP
+            string "micro-ROS Agent IP"
+            default "192.168.1.100"
+            help
+                micro-ROS Agent IP.
+        
+        config MICROROS_AGENT_PORT
+            string "micro-ROS Agent Port"
+            default "8888"
+            help
+                micro-ROS Agent port.
+
+        menu "WiFi Configuration"
+
+            config MICROROS_WIFI_SSID
+                string "WiFi SSID"
+                default "myssid"
+                help
+                    SSID (network name) for the example to connect to.
+        
+            config MICROROS_WIFI_PASSWORD
+                string "WiFi Password"
+                default "mypassword"
+                help
+                    WiFi password (WPA or WPA2) for the example to use.
+        endmenu
+    endif
+
+    if MICROROS_TRANSPORT_SERIAL
+        config MICROROS_SERIAL_PORT
+            string "micro-ROS Agent serial port"
+            default "1"
+            help
+                micro-ROS Agent IP.
+    endif
+
+    if MICROROS_TRANSPORT_SERIAL_USB
+        config USB_CDC_ACM
+            bool 
+            default y
+        config USB_CDC_ACM_RINGBUF_SIZE
+            int "USB-CDC-ACM Ringbuffer size"
+            default "2048"
+        config USB_DEVICE_PRODUCT
+            string "USB Device Product"
+            default "Zephyr micro-ROS"
+
+    endif
+    config MICROROS_NODES
+        string "available micro-ROS nodes"
+        default "4"
+
+    config MICROROS_PUBLISHERS
+        string "available micro-ROS publishers"
+        default "2"
+    
+    config MICROROS_SUBSCRIBERS
+        string "available micro-ROS subscribers"
+        default "2"
+
+    config MICROROS_CLIENTS
+        string "available micro-ROS service clients"
+        default "3"
+
+    config MICROROS_SERVERS
+        string "available micro-ROS service servers"
+        default "1"
+        
+    config MICROROS_RMW_HISTORIC
+        string "available micro-ROS RMW historic memory"
+        default "4"
+    
+    config MICROROS_XRCE_DDS_MTU
+        string "micro-ROS transport MTU"
+        default "512"
+        
+    config MICROROS_XRCE_DDS_HISTORIC
+        string "micro-ROS middleware memory slots"
+        default "4"  
+
+endif
+
--- a/modules/libmicroros/colcon.meta
+++ b/modules/libmicroros/colcon.meta
@@ -0,0 +1,48 @@
+{
+    "names": {
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        },
+        "rcl":{
+            "cmake-args":[
+                "-DRCL_MICROROS=ON"
+            ]
+        },
+        "rcutils": {
+            "cmake-args": [
+                "-DENABLE_TESTING=OFF",
+                "-DRCUTILS_NO_FILESYSTEM=ON",
+                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
+                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON",
+                "-DRCUTILS_NO_64_ATOMIC=ON"
+            ]
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+                "-DUCLIENT_PIC=OFF",
+                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
+                "-DUCLIENT_EXTERNAL_SERIAL=ON"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=1",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
+                "-DRMW_UXRCE_MAX_HISTORY=4",
+                "-DRMW_UXRCE_MAX_SERVICES=0",
+                "-DRMW_UXRCE_MAX_CLIENTS=0",
+                "-DRMW_UXRCE_TRANSPORT=custom_serial"
+            ]
+        },
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        }
+    }
+}
--- a/modules/libmicroros/libmicroros.mk
+++ b/modules/libmicroros/libmicroros.mk
@@ -0,0 +1,136 @@
+UROS_DIR = $(COMPONENT_PATH)/micro_ros_src
+DEBUG ?= 0
+
+ifeq ($(DEBUG), 1)
+	BUILD_TYPE = Debug
+else
+	BUILD_TYPE = Release
+endif
+
+CFLAGS_INTERNAL := $(X_CFLAGS)
+CXXFLAGS_INTERNAL := $(X_CXXFLAGS)
+
+CFLAGS_INTERNAL := -c -I$(ZEPHYR_BASE)/include/posix -I$(PROJECT_BINARY_DIR)/include/generated $(CFLAGS_INTERNAL)
+CXXFLAGS_INTERNAL := -c -I$(ZEPHYR_BASE)/include/posix -I$(PROJECT_BINARY_DIR)/include/generated $(CXXFLAGS_INTERNAL)
+
+all: $(COMPONENT_PATH)/libmicroros.a
+
+clean:
+	rm -rf $(COMPONENT_PATH)/libmicroros.a; \
+	rm -rf $(COMPONENT_PATH)/include; \
+	rm -rf $(COMPONENT_PATH)/zephyr_toolchain.cmake; \
+	rm -rf $(COMPONENT_PATH)/micro_ros_dev; \
+	rm -rf $(COMPONENT_PATH)/micro_ros_src;
+
+ZEPHYR_CONF_FILE := $(PROJECT_BINARY_DIR)/.config
+
+get_package_names: $(COMPONENT_PATH)/micro_ros_src/src
+	@cd $(COMPONENT_PATH)/micro_ros_src/src; \
+	colcon list | awk '{print $$1}' | awk -v d=";" '{s=(NR==1?s:s d)$$0}END{print s}'
+
+configure_colcon_meta: $(COMPONENT_PATH)/colcon.meta $(COMPONENT_PATH)/micro_ros_src/src
+	. $(COMPONENT_PATH)/utils.sh; \
+	cp $(COMPONENT_PATH)/colcon.meta $(COMPONENT_PATH)/configured_colcon.meta; \
+	ZEPHYR_CONF_FILE=$(ZEPHYR_CONF_FILE); \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_NODES" "rmw_microxrcedds" "RMW_UXRCE_MAX_NODES"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_PUBLISHERS" "rmw_microxrcedds" "RMW_UXRCE_MAX_PUBLISHERS"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_SUBSCRIBERS" "rmw_microxrcedds" "RMW_UXRCE_MAX_SUBSCRIPTIONS"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_CLIENTS" "rmw_microxrcedds" "RMW_UXRCE_MAX_CLIENTS"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_SERVERS" "rmw_microxrcedds" "RMW_UXRCE_MAX_SERVICES"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_RMW_HISTORIC" "rmw_microxrcedds" "RMW_UXRCE_MAX_HISTORY"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_XRCE_DDS_HISTORIC" "rmw_microxrcedds" "RMW_UXRCE_STREAM_HISTORY"; \
+	update_meta_from_zephyr_config "CONFIG_MICROROS_XRCE_DDS_MTU" "microxrcedds_client" "UCLIENT_CUSTOM_TRANSPORT_MTU"; \
+	update_meta "microxrcedds_client" "UCLIENT_PROFILE_SERIAL=OFF"; \
+	update_meta "microxrcedds_client" "UCLIENT_PROFILE_UDP=OFF"; \
+	update_meta "microxrcedds_client" "UCLIENT_PROFILE_TCP=OFF"; \
+	update_meta "microxrcedds_client" "UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"; \
+	update_meta "microxrcedds_client" "UCLIENT_PROFILE_STREAM_FRAMING=ON"; \
+	update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom";
+
+
+configure_toolchain: $(COMPONENT_PATH)/zephyr_toolchain.cmake.in
+	rm -f $(COMPONENT_PATH)/zephyr_toolchain.cmake; \
+	cat $(COMPONENT_PATH)/zephyr_toolchain.cmake.in | \
+		sed "s/@CMAKE_C_COMPILER@/$(subst /,\/,$(X_CC))/g" | \
+		sed "s/@CMAKE_CXX_COMPILER@/$(subst /,\/,$(X_CXX))/g" | \
+		sed "s/@CMAKE_SYSROOT@/$(subst /,\/,$(COMPONENT_PATH))/g" | \
+		sed "s/@CFLAGS@/$(subst /,\/,$(CFLAGS_INTERNAL))/g" | \
+		sed "s/@CXXFLAGS@/$(subst /,\/,$(CXXFLAGS_INTERNAL))/g" \
+		> $(COMPONENT_PATH)/zephyr_toolchain.cmake
+
+$(COMPONENT_PATH)/micro_ros_dev/install:
+	rm -rf micro_ros_dev; \
+	mkdir micro_ros_dev; cd micro_ros_dev; \
+	git clone -b jazzy https://github.com/ament/ament_cmake src/ament_cmake; \
+	git clone -b jazzy https://github.com/ament/ament_lint src/ament_lint; \
+	git clone -b jazzy https://github.com/ament/ament_package src/ament_package; \
+	git clone -b jazzy https://github.com/ament/googletest src/googletest; \
+	git clone -b jazzy https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
+	git clone -b jazzy https://github.com/ament/ament_index src/ament_index; \
+	colcon build --cmake-args -DBUILD_TESTING=OFF;
+
+$(COMPONENT_PATH)/micro_ros_src/src:
+	@rm -rf micro_ros_src; \
+	mkdir micro_ros_src; cd micro_ros_src; \
+	git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
+	git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
+	git clone -b jazzy https://github.com/micro-ROS/rcl src/rcl; \
+	git clone -b jazzy https://github.com/ros2/rclc src/rclc; \
+	git clone -b jazzy https://github.com/micro-ROS/rcutils src/rcutils; \
+	git clone -b jazzy https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
+	git clone -b jazzy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds; \
+	git clone -b jazzy https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
+	git clone -b jazzy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
+	git clone -b jazzy https://github.com/ros2/rosidl src/rosidl; \
+	git clone -b jazzy https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport; \
+	git clone -b jazzy https://github.com/ros2/rmw src/rmw; \
+	git clone -b jazzy https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
+	git clone -b jazzy https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
+	git clone -b jazzy https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
+	git clone -b jazzy https://github.com/ros2/common_interfaces src/common_interfaces; \
+	git clone -b jazzy https://github.com/ros2/test_interface_files src/test_interface_files; \
+	git clone -b jazzy https://github.com/ros2/rmw_implementation src/rmw_implementation; \
+	git clone -b jazzy https://github.com/ros2/rcl_logging src/rcl_logging; \
+	git clone -b jazzy https://github.com/ros2/ros2_tracing src/ros2_tracing; \
+	git clone -b jazzy https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
+	git clone -b jazzy https://github.com/ros2/rosidl_core src/rosidl_core; \
+	touch src/ros2_tracing/test_tracetools/COLCON_IGNORE; \
+	touch src/ros2_tracing/lttngpy/COLCON_IGNORE; \
+    touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
+    touch src/rclc/rclc_examples/COLCON_IGNORE; \
+    touch src/common_interfaces/actionlib_msgs/COLCON_IGNORE; \
+	touch src/common_interfaces/std_srvs/COLCON_IGNORE; \
+	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
+    touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
+    touch src/rcl_interfaces/test_msgs/COLCON_IGNORE;
+
+$(COMPONENT_PATH)/micro_ros_src/install: configure_colcon_meta configure_toolchain $(COMPONENT_PATH)/micro_ros_dev/install $(COMPONENT_PATH)/micro_ros_src/src
+	cd $(UROS_DIR); \
+	. ../micro_ros_dev/install/local_setup.sh; \
+	colcon build \
+		--merge-install \
+		--packages-ignore-regex=.*_cpp \
+		--metas $(COMPONENT_PATH)/configured_colcon.meta \
+		--cmake-args \
+		"--no-warn-unused-cli" \
+		-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
+		-DTHIRDPARTY=ON \
+		-DBUILD_SHARED_LIBS=OFF \
+		-DBUILD_TESTING=OFF \
+		-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
+		-DCMAKE_TOOLCHAIN_FILE=$(COMPONENT_PATH)/zephyr_toolchain.cmake \
+		-DCMAKE_VERBOSE_MAKEFILE=OFF; \
+
+$(COMPONENT_PATH)/libmicroros.a: $(COMPONENT_PATH)/micro_ros_src/install
+	mkdir -p $(UROS_DIR)/libmicroros; cd $(UROS_DIR)/libmicroros; \
+	for file in $$(find $(UROS_DIR)/install/lib/ -name '*.a'); do \
+		folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \
+		mkdir -p $$folder; cd $$folder; $(X_AR) x $$file; \
+		for f in *; do \
+			mv $$f ../$$folder-$$f; \
+		done; \
+		cd ..; rm -rf $$folder; \
+	done ; \
+	$(X_AR) rc libmicroros.a *.obj; cp libmicroros.a $(COMPONENT_PATH); ${X_RANLIB} $(COMPONENT_PATH)/libmicroros.a; \
+	cd ..; rm -rf libmicroros; \
+	cp -R $(UROS_DIR)/install/include $(COMPONENT_PATH)/include;
--- a/modules/libmicroros/microros_transports/serial-usb/microros_transports.c
+++ b/modules/libmicroros/microros_transports/serial-usb/microros_transports.c
@@ -0,0 +1,168 @@
+#include <uxr/client/transport.h>
+
+#include <version.h>
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/sys/printk.h>
+#include <zephyr/drivers/uart.h>
+#include <zephyr/sys/ring_buffer.h>
+#include <zephyr/usb/usb_device.h>
+#include <zephyr/posix/unistd.h>
+#else 
+#include <zephyr.h>
+#include <device.h>
+#include <sys/printk.h>
+#include <drivers/uart.h>
+#include <sys/ring_buffer.h>
+#include <usb/usb_device.h>
+#include <posix/unistd.h>
+#endif
+
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+
+#include <microros_transports.h>
+
+
+#define RING_BUF_SIZE 2048
+
+char uart_in_buffer[RING_BUF_SIZE];
+char uart_out_buffer[RING_BUF_SIZE];
+
+struct ring_buf out_ringbuf, in_ringbuf;
+
+static void uart_fifo_callback(const struct device *dev, void * user_data){
+    while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
+        if (uart_irq_rx_ready(dev)) {
+            int recv_len;
+            char buffer[64];
+            size_t len = MIN(ring_buf_space_get(&in_ringbuf), sizeof(buffer));
+
+            if (len > 0){
+                recv_len = uart_fifo_read(dev, buffer, len);
+                ring_buf_put(&in_ringbuf, buffer, recv_len);
+            }
+
+        }
+
+        if (uart_irq_tx_ready(dev)) {
+            char buffer[64];
+            int rb_len;
+
+            rb_len = ring_buf_get(&out_ringbuf, buffer, sizeof(buffer));
+
+            if (rb_len == 0) {
+                uart_irq_tx_disable(dev);
+                continue;
+            }
+
+            uart_fifo_fill(dev, buffer, rb_len);
+        }
+    }
+}
+
+bool zephyr_transport_open(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    int ret;
+    uint32_t baudrate, dtr = 0U;
+
+
+    params->uart_dev = device_get_binding("CDC_ACM_0");
+    if (!params->uart_dev) {
+        printk("CDC ACM device not found\n");
+        return false;
+    }
+
+    ret = usb_enable(NULL);
+    if (ret != 0) {
+        printk("Failed to enable USB\n");
+        return false;
+    }
+
+    ring_buf_init(&out_ringbuf, sizeof(uart_out_buffer), uart_out_buffer);
+    ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);
+
+    printk("Waiting for agent connection\n");
+
+    while (true) {
+        uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_DTR, &dtr);
+        if (dtr) {
+            break;
+        } else {
+            /* Give CPU resources to low priority threads. */
+            k_sleep(K_MSEC(100));
+        }
+    }
+
+    printk("Serial port connected!\n");
+
+    /* They are optional, we use them to test the interrupt endpoint */
+    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DCD, 1);
+    if (ret) {
+        printk("Failed to set DCD, ret code %d\n", ret);
+    }
+
+    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DSR, 1);
+    if (ret) {
+        printk("Failed to set DSR, ret code %d\n", ret);
+    }
+
+    /* Wait 1 sec for the host to do all settings */
+    k_busy_wait(1000*1000);
+
+    ret = uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
+    if (ret) {
+        printk("Failed to get baudrate, ret code %d\n", ret);
+    }
+
+    uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
+
+    /* Enable rx interrupts */
+    uart_irq_rx_enable(params->uart_dev);
+
+    return true;
+}
+
+bool zephyr_transport_close(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    (void) params;
+
+    return true;
+}
+
+size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    size_t wrote;
+
+    wrote = ring_buf_put(&out_ringbuf, buf, len);
+
+    uart_irq_tx_enable(params->uart_dev);
+
+    while (!ring_buf_is_empty(&out_ringbuf)){
+        k_sleep(K_MSEC(5));
+    }
+
+    return wrote;
+}
+
+size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    size_t read = 0;
+    int spent_time = 0;
+
+    while(ring_buf_is_empty(&in_ringbuf) && spent_time < timeout){
+        k_sleep(K_MSEC(1));
+        spent_time++;
+    }
+
+    uart_irq_rx_disable(params->uart_dev);
+    read = ring_buf_get(&in_ringbuf, buf, len);
+    uart_irq_rx_enable(params->uart_dev);
+
+    return read;
+}
--- a/modules/libmicroros/microros_transports/serial-usb/microros_transports.h
+++ b/modules/libmicroros/microros_transports/serial-usb/microros_transports.h
@@ -0,0 +1,49 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
+#define _MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
+
+#include <unistd.h>
+#include <version.h>
+
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
+#include <zephyr/device.h>
+#else
+#include <device.h>
+#endif
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+typedef struct {
+    size_t fd;
+    const struct device *uart_dev;
+} zephyr_transport_params_t;
+
+#define MICRO_ROS_FRAMING_REQUIRED true
+static zephyr_transport_params_t default_params;
+
+bool zephyr_transport_open(struct uxrCustomTransport * transport);
+bool zephyr_transport_close(struct uxrCustomTransport * transport);
+size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
+size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
--- a/modules/libmicroros/microros_transports/serial/microros_transports.c
+++ b/modules/libmicroros/microros_transports/serial/microros_transports.c
@@ -0,0 +1,123 @@
+#include <uxr/client/transport.h>
+
+#include <microros_transports.h>
+#include <version.h>
+
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/sys/printk.h>
+#include <zephyr/drivers/uart.h>
+#include <zephyr/sys/ring_buffer.h>
+#include <zephyr/posix/unistd.h>
+#else
+#include <zephyr.h>
+#include <device.h>
+#include <sys/printk.h>
+#include <drivers/uart.h>
+#include <sys/ring_buffer.h>
+#include <posix/unistd.h>
+#endif
+
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+
+#define RING_BUF_SIZE 2048
+#define UART_NODE DT_NODELABEL(uart4)
+
+char uart_in_buffer[RING_BUF_SIZE];
+char uart_out_buffer[RING_BUF_SIZE];
+
+struct ring_buf out_ringbuf, in_ringbuf;
+
+// --- micro-ROS Serial Transport for Zephyr ---
+
+static void uart_fifo_callback(const struct device * dev, void * args){
+    while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
+        if (uart_irq_rx_ready(dev)) {
+            int recv_len;
+            char buffer[64];
+            size_t len = MIN(ring_buf_space_get(&in_ringbuf), sizeof(buffer));
+
+            if (len > 0){
+                recv_len = uart_fifo_read(dev, buffer, len);
+                ring_buf_put(&in_ringbuf, buffer, recv_len);
+            }
+        }
+    }
+}
+
+
+bool zephyr_transport_open(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    params->uart_dev = DEVICE_DT_GET(UART_NODE);
+    if (!params->uart_dev) {
+        printk("Serial device not found\n");
+        return false;
+    }
+
+    if (!device_is_ready(params->uart_dev)) {
+        printk("Serial device not ready\n");
+        return false;
+    }
+
+    printk("Serial device connected\n");
+
+    ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_in_buffer);
+
+    uart_irq_callback_user_data_set(params->uart_dev, uart_fifo_callback, NULL);
+
+    /* Enable rx interrupts */
+    uart_irq_rx_enable(params->uart_dev);
+
+    return true;
+}
+
+bool zephyr_transport_close(struct uxrCustomTransport * transport){
+    (void) transport;
+    // TODO: close serial transport here
+    return true;
+}
+
+size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    printf("TX: ");
+    for (size_t i = 0; i < len; i++) {
+        printf("%02X ", buf[i]);
+    }
+    printf("\n");
+
+    for (size_t i = 0; i < len; i++)
+    {
+        uart_poll_out(params->uart_dev, buf[i]);
+    }
+
+    return len;
+}
+
+size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    size_t read = 0;
+    int spent_time = 0;
+
+    while(ring_buf_is_empty(&in_ringbuf) && spent_time < timeout){
+        usleep(1000);
+        spent_time++;
+    }
+
+    uart_irq_rx_disable(params->uart_dev);
+    read = ring_buf_get(&in_ringbuf, buf, len);
+    uart_irq_rx_enable(params->uart_dev);
+
+    printf("RX: ");
+    for (size_t i = 0; i < read; i++) {
+        printf("%02X ", buf[i]);
+    }
+    printf("\n");
+
+    return read;
+}
--- a/modules/libmicroros/microros_transports/serial/microros_transports.h
+++ b/modules/libmicroros/microros_transports/serial/microros_transports.h
@@ -0,0 +1,49 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
+#define _MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
+
+#include <unistd.h>
+#include <version.h>
+
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
+#include <zephyr/device.h>
+#else
+#include <device.h>
+#endif
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+typedef struct {
+    size_t fd;
+    const struct device * uart_dev;
+} zephyr_transport_params_t;
+
+#define MICRO_ROS_FRAMING_REQUIRED true
+volatile static zephyr_transport_params_t default_params = {.fd = 1};
+
+bool zephyr_transport_open(struct uxrCustomTransport * transport);
+bool zephyr_transport_close(struct uxrCustomTransport * transport);
+size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
+size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
--- a/modules/libmicroros/microros_transports/udp/microros_transports.c
+++ b/modules/libmicroros/microros_transports/udp/microros_transports.c
@@ -0,0 +1,103 @@
+#include <uxr/client/transport.h>
+
+#include <version.h>
+
+#if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0)
+#include <zephyr/kernel.h>
+#include <zephyr/posix/unistd.h>
+#include <zephyr/posix/arpa/inet.h>
+#include <zephyr/posix/netdb.h>
+#else
+#include <zephyr.h>
+#include <unistd.h>
+#include <arpa/inet.h>
+#include <netdb.h>
+#endif
+
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <errno.h>
+
+#include <microros_transports.h>
+
+bool zephyr_transport_open(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    bool rv = false;
+    params->poll_fd.fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+
+    if (-1 != params->poll_fd.fd)
+    {
+        struct addrinfo hints;
+        struct addrinfo* result;
+        struct addrinfo* ptr;
+
+        memset(&hints, 0, sizeof(hints));
+        hints.ai_family = AF_INET;
+        hints.ai_socktype = SOCK_DGRAM;
+
+        if (0 == getaddrinfo(params->ip, params->port, &hints, &result))
+        {
+            for (ptr = result; ptr != NULL; ptr = ptr->ai_next)
+            {
+                if (0 == connect(params->poll_fd.fd, ptr->ai_addr, ptr->ai_addrlen))
+                {
+                    params->poll_fd.events = POLLIN;
+                    rv = true;
+                    break;
+                }
+            }
+        }
+        freeaddrinfo(result);
+    }
+    return rv;
+}
+
+bool zephyr_transport_close(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    return (-1 == params->poll_fd.fd) ? true : (0 == close(params->poll_fd.fd));
+}
+
+size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    size_t rv = 0;
+    ssize_t bytes_sent = send(params->poll_fd.fd, (void*)buf, len, 0);
+    if (-1 != bytes_sent)
+    {
+        rv = (size_t)bytes_sent;
+        *err = 0;
+    }
+    else
+    {
+        *err = 1;
+    }
+    return rv;
+}
+
+size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
+    size_t rv = 0;
+    int poll_rv = poll(&params->poll_fd, 1, timeout);
+    if (0 < poll_rv)
+    {
+        ssize_t bytes_received = recv(params->poll_fd.fd, (void*)buf, len, 0);
+        if (-1 != bytes_received)
+        {
+            rv = (size_t)bytes_received;
+            *err = 0;
+        }
+        else
+        {
+            *err = 1;
+        }
+    }
+    else
+    {
+        *err = (0 == poll_rv) ? 0 : 1;
+    }
+    return rv;
+}
--- a/modules/libmicroros/microros_transports/udp/microros_transports.h
+++ b/modules/libmicroros/microros_transports/udp/microros_transports.h
@@ -0,0 +1,47 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
+#define _MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
+
+#include <unistd.h>
+
+#include <sys/types.h>
+#include <posix/sys/socket.h>
+#include <posix/poll.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+typedef struct {
+    struct pollfd poll_fd;
+    char ip[16];
+    char port[6];
+} zephyr_transport_params_t;
+
+#define MICRO_ROS_FRAMING_REQUIRED false
+static zephyr_transport_params_t default_params = {{0,0,0}, "192.168.1.100", "8888"};
+
+bool zephyr_transport_open(struct uxrCustomTransport * transport);
+bool zephyr_transport_close(struct uxrCustomTransport * transport);
+size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
+size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_MICROROS_CLIENT_ZEPHYR_TRANSPORT_H_
--- a/modules/libmicroros/utils.sh
+++ b/modules/libmicroros/utils.sh
@@ -0,0 +1,14 @@
+update_meta() {
+      python3 -c "import sys; import json; c = '-D' +'$2'; s = json.loads(''.join([l for l in sys.stdin])); k = s['names']['$1']['cmake-args']; i = [c.startswith(v.split('=')[0]) for v in k]; k.pop(i.index(True)) if any(i) else None; k.append(c) if len(c.split('=')[1]) else None; print(json.dumps(s,indent=4))" < $COMPONENT_PATH/configured_colcon.meta > $COMPONENT_PATH/configured_colcon_new.meta
+      mv $COMPONENT_PATH/configured_colcon_new.meta $COMPONENT_PATH/configured_colcon.meta
+}
+
+remove_meta() {
+      python3 -c "import sys; import json; c = '-D' +'$2'; s = json.loads(''.join([l for l in sys.stdin])); k = s['names']['$1']['cmake-args']; i = [c.startswith(v.split('=')[0]) for v in k]; k.pop(i.index(True)) if any(i) else None; print(json.dumps(s,indent=4))" < $COMPONENT_PATH/configured_colcon.meta > $COMPONENT_PATH/configured_colcon_new.meta
+      mv $COMPONENT_PATH/configured_colcon_new.meta $COMPONENT_PATH/configured_colcon.meta
+}
+
+update_meta_from_zephyr_config() {
+      AUX_VARIABLE=$(grep $1 $ZEPHYR_CONF_FILE | awk -F '=' '{gsub(/"/, "", $2); print $2}'); \
+      update_meta "$2" "$3=$AUX_VARIABLE"; \
+}
--- a/modules/libmicroros/zephyr/module.yml
+++ b/modules/libmicroros/zephyr/module.yml
@@ -0,0 +1,3 @@
+build:
+    cmake: .
+    kconfig: Kconfig
--- a/modules/libmicroros/zephyr_toolchain.cmake.in
+++ b/modules/libmicroros/zephyr_toolchain.cmake.in
@@ -0,0 +1,34 @@
+include(CMakeForceCompiler)
+
+set(CMAKE_SYSTEM_NAME Generic)
+# set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+set(PLATFORM_NAME "zephyr")
+
+set(CMAKE_SYSROOT @CMAKE_SYSROOT@)
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# Makefile flags
+
+set(CMAKE_THREAD_LIBS_INIT "-lpthread")
+set(CMAKE_HAVE_THREADS_LIBRARY 1)
+set(CMAKE_USE_WIN32_THREADS_INIT 0)
+set(CMAKE_USE_PTHREADS_INIT 1)
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
+set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
+#set(CMAKE_C_COMPILER /opt/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc)
+#set(CMAKE_CXX_COMPILER /opt/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-g++)
+
+set(CMAKE_C_FLAGS_INIT "@CFLAGS@" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)