How does someone make use of this in a zephyr project?

[chmorgan]

How should someone add this module to their existing zephyr project?

[pablogs9]

This is a sample application, we will modify it to be a pure module. But by now, you can replicate this structure in you zephyr project.

[gseqBE]

@chmorgan
I had asked this question some time ago

1. Treated this repo as a submodule
2. We placed it in a folder called libraries, where all our external submodules are.
3. Add to Cmakelists.txt
   list(APPEND ZEPHYR_EXTRA_MODULES ${CMAKE_CURRENT_SOURCE_DIR}/<library path from above>/micro_ros_zephyr_module/modules/libmicroros/)
4. We also had the below in the project .conf

CONFIG_MICROROS=y
CONFIG_APP_LINK_WITH_MICROROS=y

5. Then: west build -t menuconfig, and enable libmicroros under modules and make config changes.

[CRichterLeipzig]

If i do so, i become:

`*  Executing task: west build -t menuconfig /home/ros2/zephyr/workspace/blinky_pwm --build-dir /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0  

-- west build: running target menuconfig
[0/1] cd /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/c...cripts/kconfig/menuconfig.py /home/ros2/zephyr/workspace/external/zephyr/Kconfig
Loaded configuration '/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/.config'
Configuration saved to '/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/.config'
 *  Terminal will be reused by tasks, press any key to close it. 

 *  Executing task: west build /home/ros2/zephyr/workspace/blinky_pwm --build-dir /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0  

[0/1] Re-running CMake...
Loading Zephyr default modules (Zephyr base (cached)).
-- Application: /home/ros2/zephyr/workspace/blinky_pwm
-- CMake version: 3.28.3
-- Cache files will be written to: /home/ros2/.cache/zephyr
-- Zephyr version: 4.1.0 (/home/ros2/zephyr/workspace/external/zephyr)
-- Found west (found suitable version "1.3.0", minimum required is "0.14.0")
-- Board: lpcxpresso55s69, qualifiers: lpc55s69/cpu0
-- Found host-tools: zephyr 0.17.0 (/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0)
-- Found toolchain: zephyr 0.17.0 (/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0)
-- Found BOARD.dts: /home/ros2/zephyr/workspace/external/zephyr/boards/nxp/lpcxpresso55s69/lpcxpresso55s69_lpc55s69_cpu0.dts
-- Generated zephyr.dts: /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/zephyr.dts
-- Generated pickled edt: /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/edt.pickle
-- Generated devicetree_generated.h: /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated/zephyr/devicetree_generated.h
-- Including generated dts.cmake file: /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/dts.cmake
Parsing /home/ros2/zephyr/workspace/external/zephyr/Kconfig
Loaded configuration '/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/.config'
No change to configuration in '/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/.config'
Kconfig header saved to '/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated/zephyr/autoconf.h'
Load components for LPC55S69_cm33_core0:
driver_common component is included.
driver_reset component is included.
device_CMSIS component is included.
CMSIS_Include_core_cm component is included.
device_system component is included.
driver_lpc_gpio component is included.
driver_pint component is included.
driver_inputmux component is included.
driver_inputmux_connections component is included.
driver_sctimer component is included.
driver_flexcomm component is included.
driver_flexcomm_usart component is included.
driver_lpc_iocon component is included.
-- Using ccache: /usr/bin/ccache
-- Configuring done (2.5s)
-- Generating done (0.0s)
-- Build files have been written to: /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0
[143/156] Performing build step for 'libmicroros_project'
FAILED: libmicroros-prefix/src/libmicroros_project-stamp/libmicroros_project-build /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/libmicroros.a /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/libmicroros-prefix/src/libmicroros_project-stamp/libmicroros_project-build 
cd /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros && make -f libmicroros.mk "X_CFLAGS=-I/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated/zephyr -I/home/ros2/zephyr/workspace/external/zephyr/include -I/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated -I/home/ros2/zephyr/workspace/external/zephyr/soc/nxp/lpc -I/home/ros2/zephyr/workspace/external/zephyr/lib/libc/common/include -I/home/ros2/zephyr/workspace/external/zephyr/soc/nxp/lpc/lpc55xxx/. -I/home/ros2/zephyr/workspace/external/modules/hal/cmsis/CMSIS/Core/Include -I/home/ros2/zephyr/workspace/external/zephyr/modules/cmsis/. -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/devices/LPC55S69 -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/devices/LPC55S69/drivers -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/common -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/lpc_gpio -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/pint -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/inputmux -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/sctimer -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/flexcomm -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/flexcomm/usart -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/lpc_iocon -I/home/ros2/zephyr/workspace/external/zephyr/modules/hal_nxp/. -DKERNEL -D__ZEPHYR__=1 -D__LINUX_ERRNO_EXTENSIONS__ -DPICOLIBC_LONG_LONG_PRINTF_SCANF -D__PROGRAM_START -DCPU_LPC55S69JBD100_cm33_core0 -DNDEBUG -fno-strict-aliasing -Og -imacros/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated/zephyr/autoconf.h -fno-printf-return-value -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m33 -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft --sysroot=/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/arm-zephyr-eabi -imacros/home/ros2/zephyr/workspace/external/zephyr/include/zephyr/toolchain/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wformat -Wno-format-zero-length -Wdouble-promotion -Wno-pointer-sign -Wpointer-arith -Wexpansion-to-defined -Wno-unused-but-set-variable -Werror=implicit-int -fno-pic -fno-pie -fno-asynchronous-unwind-tables -ftls-model=local-exec -fno-reorder-functions --param=min-pagesize=0 -fno-defer-pop -fmacro-prefix-map=/home/ros2/zephyr/workspace/blinky_pwm=CMAKE_SOURCE_DIR -fmacro-prefix-map=/home/ros2/zephyr/workspace/external/zephyr=ZEPHYR_BASE -fmacro-prefix-map=/home/ros2/zephyr/workspace=WEST_TOPDIR -ffunction-sections -fdata-sections -mcmse -specs=picolibc.specs -isystem/home/ros2/zephyr/workspace/external/zephyr/lib/libc/common/include" "X_CXXFLAGS=-I/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated/zephyr -I/home/ros2/zephyr/workspace/external/zephyr/include -I/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated -I/home/ros2/zephyr/workspace/external/zephyr/soc/nxp/lpc -I/home/ros2/zephyr/workspace/external/zephyr/lib/libc/common/include -I/home/ros2/zephyr/workspace/external/zephyr/soc/nxp/lpc/lpc55xxx/. -I/home/ros2/zephyr/workspace/external/modules/hal/cmsis/CMSIS/Core/Include -I/home/ros2/zephyr/workspace/external/zephyr/modules/cmsis/. -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/devices/LPC55S69 -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/devices/LPC55S69/drivers -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/common -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/lpc_gpio -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/pint -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/inputmux -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/sctimer -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/flexcomm -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/flexcomm/usart -I/home/ros2/zephyr/workspace/external/modules/hal/nxp/mcux/mcux-sdk/drivers/lpc_iocon -I/home/ros2/zephyr/workspace/external/zephyr/modules/hal_nxp/. -DKERNEL -D__ZEPHYR__=1 -D__LINUX_ERRNO_EXTENSIONS__ -DPICOLIBC_LONG_LONG_PRINTF_SCANF -D__PROGRAM_START -DCPU_LPC55S69JBD100_cm33_core0 -DNDEBUG -fno-strict-aliasing -Og -fcheck-new -std=c++11 -fno-rtti -imacros/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/include/generated/zephyr/autoconf.h -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m33 -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft --sysroot=/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/arm-zephyr-eabi -imacros/home/ros2/zephyr/workspace/external/zephyr/include/zephyr/toolchain/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wformat -Wno-format-zero-length -Wdouble-promotion -Wpointer-arith -Wexpansion-to-defined -Wno-unused-but-set-variable -fno-pic -fno-pie -fno-asynchronous-unwind-tables -ftls-model=local-exec -fno-reorder-functions --param=min-pagesize=0 -fno-defer-pop -fmacro-prefix-map=/home/ros2/zephyr/workspace/blinky_pwm=CMAKE_SOURCE_DIR -fmacro-prefix-map=/home/ros2/zephyr/workspace/external/zephyr=ZEPHYR_BASE -fmacro-prefix-map=/home/ros2/zephyr/workspace=WEST_TOPDIR -ffunction-sections -fdata-sections -mcmse -specs=picolibc.specs -isystem/home/ros2/zephyr/workspace/external/zephyr/lib/libc/common/include" X_CC=/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc X_AR=/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/bin/arm-zephyr-eabi-ar X_RANLIB=/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/bin/arm-zephyr-eabi-ranlib X_CXX=/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/bin/arm-zephyr-eabi-g++ COMPONENT_PATH=/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros ZEPHYR_BASE=/home/ros2/zephyr/workspace/external/zephyr PROJECT_BINARY_DIR=/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr && /usr/bin/cmake -E touch /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/libmicroros-prefix/src/libmicroros_project-stamp/libmicroros_project-build
. /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/utils.sh; \
cp /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/colcon.meta /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/configured_colcon.meta; \
ZEPHYR_CONF_FILE=/home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0/zephyr/.config; \
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";
rm -f /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/zephyr_toolchain.cmake; \
cat /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/zephyr_toolchain.cmake.in | \
        sed "s/@CMAKE_C_COMPILER@/\/home\/ros2\/.zephyr_ide\/toolchains\/zephyr-sdk-0.17.0\/arm-zephyr-eabi\/bin\/arm-zephyr-eabi-gcc/g" | \
        sed "s/@CMAKE_CXX_COMPILER@/\/home\/ros2\/.zephyr_ide\/toolchains\/zephyr-sdk-0.17.0\/arm-zephyr-eabi\/bin\/arm-zephyr-eabi-g++/g" | \
        sed "s/@CMAKE_SYSROOT@/\/home\/ros2\/zephyr\/workspace\/modules\/micro_ros_zephyr_module\/modules\/libmicroros/g" | \
        sed "s/@CFLAGS@/-c -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/include\/posix -I\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated -I\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated\/zephyr -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/include -I\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/soc\/nxp\/lpc -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/lib\/libc\/common\/include -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/soc\/nxp\/lpc\/lpc55xxx\/. -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/cmsis\/CMSIS\/Core\/Include -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/modules\/cmsis\/. -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/devices\/LPC55S69 -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/devices\/LPC55S69\/drivers -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/common -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/lpc_gpio -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/pint -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/inputmux -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/sctimer -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/flexcomm -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/flexcomm\/usart -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/lpc_iocon -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/modules\/hal_nxp\/. -DKERNEL -D__ZEPHYR__=1 -D__LINUX_ERRNO_EXTENSIONS__ -DPICOLIBC_LONG_LONG_PRINTF_SCANF -D__PROGRAM_START -DCPU_LPC55S69JBD100_cm33_core0 -DNDEBUG -fno-strict-aliasing -Og -imacros\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated\/zephyr\/autoconf.h -fno-printf-return-value -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m33 -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft --sysroot=\/home\/ros2\/.zephyr_ide\/toolchains\/zephyr-sdk-0.17.0\/arm-zephyr-eabi\/arm-zephyr-eabi -imacros\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/include\/zephyr\/toolchain\/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wformat -Wno-format-zero-length -Wdouble-promotion -Wno-pointer-sign -Wpointer-arith -Wexpansion-to-defined -Wno-unused-but-set-variable -Werror=implicit-int -fno-pic -fno-pie -fno-asynchronous-unwind-tables -ftls-model=local-exec -fno-reorder-functions --param=min-pagesize=0 -fno-defer-pop -fmacro-prefix-map=\/home\/ros2\/zephyr\/workspace\/blinky_pwm=CMAKE_SOURCE_DIR -fmacro-prefix-map=\/home\/ros2\/zephyr\/workspace\/external\/zephyr=ZEPHYR_BASE -fmacro-prefix-map=\/home\/ros2\/zephyr\/workspace=WEST_TOPDIR -ffunction-sections -fdata-sections -mcmse -specs=picolibc.specs -isystem\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/lib\/libc\/common\/include/g" | \
        sed "s/@CXXFLAGS@/-c -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/include\/posix -I\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated -I\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated\/zephyr -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/include -I\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/soc\/nxp\/lpc -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/lib\/libc\/common\/include -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/soc\/nxp\/lpc\/lpc55xxx\/. -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/cmsis\/CMSIS\/Core\/Include -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/modules\/cmsis\/. -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/devices\/LPC55S69 -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/devices\/LPC55S69\/drivers -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/common -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/lpc_gpio -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/pint -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/inputmux -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/sctimer -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/flexcomm -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/flexcomm\/usart -I\/home\/ros2\/zephyr\/workspace\/external\/modules\/hal\/nxp\/mcux\/mcux-sdk\/drivers\/lpc_iocon -I\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/modules\/hal_nxp\/. -DKERNEL -D__ZEPHYR__=1 -D__LINUX_ERRNO_EXTENSIONS__ -DPICOLIBC_LONG_LONG_PRINTF_SCANF -D__PROGRAM_START -DCPU_LPC55S69JBD100_cm33_core0 -DNDEBUG -fno-strict-aliasing -Og -fcheck-new -std=c++11 -fno-rtti -imacros\/home\/ros2\/zephyr\/workspace\/blinky_pwm\/build\/lpcxpresso55s69\/lpc55s69\/cpu0\/zephyr\/include\/generated\/zephyr\/autoconf.h -fno-common -g -gdwarf-4 -fdiagnostics-color=always -mcpu=cortex-m33 -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft --sysroot=\/home\/ros2\/.zephyr_ide\/toolchains\/zephyr-sdk-0.17.0\/arm-zephyr-eabi\/arm-zephyr-eabi -imacros\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/include\/zephyr\/toolchain\/zephyr_stdint.h -Wall -Wformat -Wformat-security -Wformat -Wno-format-zero-length -Wdouble-promotion -Wpointer-arith -Wexpansion-to-defined -Wno-unused-but-set-variable -fno-pic -fno-pie -fno-asynchronous-unwind-tables -ftls-model=local-exec -fno-reorder-functions --param=min-pagesize=0 -fno-defer-pop -fmacro-prefix-map=\/home\/ros2\/zephyr\/workspace\/blinky_pwm=CMAKE_SOURCE_DIR -fmacro-prefix-map=\/home\/ros2\/zephyr\/workspace\/external\/zephyr=ZEPHYR_BASE -fmacro-prefix-map=\/home\/ros2\/zephyr\/workspace=WEST_TOPDIR -ffunction-sections -fdata-sections -mcmse -specs=picolibc.specs -isystem\/home\/ros2\/zephyr\/workspace\/external\/zephyr\/lib\/libc\/common\/include/g" \
        > /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/zephyr_toolchain.cmake
cd /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src; \
. ../micro_ros_dev/install/local_setup.sh; \
colcon build \
        --merge-install \
        --packages-ignore-regex=.*_cpp \
        --metas /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/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=Release \
        -DCMAKE_TOOLCHAIN_FILE=/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/zephyr_toolchain.cmake \
        -DCMAKE_VERBOSE_MAKEFILE=OFF; \

Starting >>> rcutils
Starting >>> rosidl_cli
Starting >>> rosidl_typesupport_interface
Starting >>> microcdr
Starting >>> rmw_implementation_cmake
Starting >>> tracetools
Starting >>> tracetools_trace
Starting >>> test_interface_files
Starting >>> tracetools_read
/home/ros2/zephyr/workspace/.venv/lib/python3.12/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require'
  warnings.warn(msg)
/home/ros2/zephyr/workspace/.venv/lib/python3.12/site-packages/setuptools/dist.py:759: SetuptoolsDeprecationWarning: License classifiers are deprecated.
!!

        ********************************************************************************
        Please consider removing the following classifiers in favor of a SPDX license expression:

        License :: OSI Approved :: Apache Software License

        See https://packaging.python.org/en/latest/guides/writing-pyproject-toml/#license for details.
        ********************************************************************************

!!
  self._finalize_license_expression()
/home/ros2/zephyr/workspace/.venv/lib/python3.12/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require'
  warnings.warn(msg)
/home/ros2/zephyr/workspace/.venv/lib/python3.12/site-packages/setuptools/_distutils/dist.py:289: UserWarning: Unknown distribution option: 'tests_require'
  warnings.warn(msg)
Finished <<< rosidl_typesupport_interface [0.96s]
Finished <<< rmw_implementation_cmake [0.94s]
Finished <<< tracetools [0.95s]
Finished <<< test_interface_files [0.94s]
--- stderr: rcutils
In file included from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:34,
                 from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/allocator.c:20:
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/string.h:207:9: error: unknown type name '__errno_t'
  207 | typedef __errno_t errno_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/string.h:212:9: error: unknown type name '__rsize_t'
  212 | typedef __rsize_t rsize_t;
      |         ^~~~~~~~~
In file included from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:34,
                 from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/env.c:25:
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/string.h:207:9: error: unknown type name '__errno_t'
  207 | typedef __errno_t errno_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/string.h:212:9: error: unknown type name '__rsize_t'
  212 | typedef __rsize_t rsize_t;
      |         ^~~~~~~~~
In file included from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/error_handling.c:35:
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h: In function '__rcutils_convert_uint64_t_into_c_str':
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:109:48: warning: unused parameter 'number' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                       ~~~~~~~~~^~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:109:63: warning: unused parameter 'buffer' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                                        ~~~~~~~^~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:109:78: warning: unused parameter 'buffer_size' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                                                       ~~~~~~~^~~~~~~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h: In function '__rcutils_format_error_string':
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:142:28: warning: unused parameter 'error_string' [-Wunused-parameter]
  142 |   rcutils_error_string_t * error_string,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:143:33: warning: unused parameter 'error_state' [-Wunused-parameter]
  143 |   const rcutils_error_state_t * error_state)
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/error_handling.c: In function 'rcutils_get_error_string':
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/error_handling.c:240:38: warning: initializer-string for array of 'char' is too long
  240 |     return (rcutils_error_string_t) {"error not set"};  // NOLINT(readability/braces)
      |                                      ^~~~~~~~~~~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/error_handling.c:240:38: note: (near initialization for '(anonymous).str')
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h: At top level:
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:109:1: warning: '__rcutils_convert_uint64_t_into_c_str' defined but not used [-Wunused-function]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/./error_handling_helpers.h:91:1: warning: '__rcutils_reverse_str' defined but not used [-Wunused-function]
   91 | __rcutils_reverse_str(char * string_in, size_t string_len)
      | ^~~~~~~~~~~~~~~~~~~~~
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:82: CMakeFiles/rcutils.dir/src/allocator.c.obj] Fehler 1
gmake[3]: *** Auf noch nicht beendete Prozesse wird gewartet …
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:138: CMakeFiles/rcutils.dir/src/env.c.obj] Fehler 1
In file included from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:33,
                 from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/logging.c:42:
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:415:9: error: unknown type name '__errno_t'
  415 | typedef __errno_t errno_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:420:9: error: unknown type name '__rsize_t'
  420 | typedef __rsize_t rsize_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:425:58: error: unknown type name '__errno_t'; did you mean 'errno_t'?
  425 |                                      void *restrict ptr, __errno_t error);
      |                                                          ^~~~~~~~~
      |                                                          errno_t
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:427:1: error: unknown type name 'constraint_handler_t'
  427 | constraint_handler_t set_constraint_handler_s(constraint_handler_t handler);
      | ^~~~~~~~~~~~~~~~~~~~
In file included from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:33,
                 from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/hash_map.c:24:
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:415:9: error: unknown type name '__errno_t'
  415 | typedef __errno_t errno_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:420:9: error: unknown type name '__rsize_t'
  420 | typedef __rsize_t rsize_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:425:58: error: unknown type name '__errno_t'; did you mean 'errno_t'?
  425 |                                      void *restrict ptr, __errno_t error);
      |                                                          ^~~~~~~~~
      |                                                          errno_t
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:427:47: error: unknown type name 'constraint_handler_t'
  427 | constraint_handler_t set_constraint_handler_s(constraint_handler_t handler);
      |                                               ^~~~~~~~~~~~~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:429:22: error: unknown type name '__errno_t'; did you mean 'errno_t'?
  429 |                      __errno_t error);
      |                      ^~~~~~~~~
      |                      errno_t
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:427:1: error: unknown type name 'constraint_handler_t'
  427 | constraint_handler_t set_constraint_handler_s(constraint_handler_t handler);
      | ^~~~~~~~~~~~~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:431:22: error: unknown type name '__errno_t'; did you mean 'errno_t'?
  431 |                      __errno_t error);
      |                      ^~~~~~~~~
      |                      errno_t
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:427:47: error: unknown type name 'constraint_handler_t'
  427 | constraint_handler_t set_constraint_handler_s(constraint_handler_t handler);
      |                                               ^~~~~~~~~~~~~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:429:22: error: unknown type name '__errno_t'; did you mean 'errno_t'?
  429 |                      __errno_t error);
      |                      ^~~~~~~~~
      |                      errno_t
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdlib.h:431:22: error: unknown type name '__errno_t'; did you mean 'errno_t'?
  431 |                      __errno_t error);
      |                      ^~~~~~~~~
      |                      errno_t
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/logging.c: In function 'rcutils_get_env_var_zero_or_one':
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/logging.c:154:35: warning: unused parameter 'zero_semantic' [-Wunused-parameter]
  154 |   const char * name, const char * zero_semantic,
      |                      ~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/logging.c:155:16: warning: unused parameter 'one_semantic' [-Wunused-parameter]
  155 |   const char * one_semantic)
      |   ~~~~~~~~~~~~~^~~~~~~~~~~~
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:208: CMakeFiles/rcutils.dir/src/hash_map.c.obj] Fehler 1
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:222: CMakeFiles/rcutils.dir/src/logging.c.obj] Fehler 1
In file included from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/include/rcutils/error_handling.h:32,
                 from /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/src/rcutils/src/process.c:43:
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdio.h:388:9: error: unknown type name '__errno_t'
  388 | typedef __errno_t errno_t;
      |         ^~~~~~~~~
/home/ros2/.zephyr_ide/toolchains/zephyr-sdk-0.17.0/arm-zephyr-eabi/picolibc/include/stdio.h:393:9: error: unknown type name '__rsize_t'
  393 | typedef __rsize_t rsize_t;
      |         ^~~~~~~~~
gmake[3]: *** [CMakeFiles/rcutils.dir/build.make:236: CMakeFiles/rcutils.dir/src/process.c.obj] Fehler 1
gmake[2]: *** [CMakeFiles/Makefile2:192: CMakeFiles/rcutils.dir/all] Fehler 2
gmake[2]: *** Auf noch nicht beendete Prozesse wird gewartet …
gmake[1]: *** [Makefile:146: all] Fehler 2
---
Failed   <<< rcutils [1.09s, exited with code 2]
Aborted  <<< microcdr [1.09s]
Aborted  <<< tracetools_read [1.05s]
Aborted  <<< tracetools_trace [1.07s]
Aborted  <<< rosidl_cli [1.14s]

(notify-send:63924): libnotify-WARNING **: 01:28:25.881: Running in confined mode, using Portal notifications. Some features and hints won't be supported
libnotify-Message: 01:28:25.881: Category is not available when using Portal Notifications
libnotify-Message: 01:28:25.881: App Name is not available when using Portal Notifications

Summary: 4 packages finished [1.46s]
  1 package failed: rcutils
  4 packages aborted: microcdr rosidl_cli tracetools_read tracetools_trace
  1 package had stderr output: rcutils
  61 packages not processed
make: *** [libmicroros.mk:108: /home/ros2/zephyr/workspace/modules/micro_ros_zephyr_module/modules/libmicroros/micro_ros_src/install] Fehler 2
ninja: build stopped: subcommand failed.
FATAL ERROR: command exited with status 1: /usr/bin/cmake --build /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0

 *  The terminal process "/usr/bin/bash '-c', 'west build /home/ros2/zephyr/workspace/blinky_pwm --build-dir /home/ros2/zephyr/workspace/blinky_pwm/build/lpcxpresso55s69/lpc55s69/cpu0 '" terminated with exit code: 1. 
 *  Terminal will be reused by tasks, press any key to close it. `