This is an automated email from the ASF dual-hosted git repository.
lupyuen pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new c106a02b5 examples/microros_sub: Add minimal Int32 subscriber example.
c106a02b5 is described below
commit c106a02b586253e2bdcf3e64ccad4b4cc8b6527b
Author: Arjav Patel <[email protected]>
AuthorDate: Mon Jun 1 23:11:04 2026 +0530
examples/microros_sub: Add minimal Int32 subscriber example.
Mirror of microros_pub for the receive direction. Creates a node,
subscribes to /nuttx_sub with std_msgs/Int32, drives an rclc_executor
spin loop, and prints each received value. Exercises the new
rclc_executor + subscription callback path on top of the
microros_transport library shipped in apps/system/microros.
Validates the NuttX-native transport in the agent->client direction
end-to-end against a micro-ROS agent + ros2 topic pub on the host.
Signed-off-by: Arjav Patel <[email protected]>
---
examples/microros_sub/CMakeLists.txt | 35 ++++++++
examples/microros_sub/Kconfig | 31 +++++++
examples/microros_sub/Make.defs | 25 ++++++
examples/microros_sub/Makefile | 32 ++++++++
examples/microros_sub/microros_sub_main.c | 131 ++++++++++++++++++++++++++++++
5 files changed, 254 insertions(+)
diff --git a/examples/microros_sub/CMakeLists.txt
b/examples/microros_sub/CMakeLists.txt
new file mode 100644
index 000000000..1c094949a
--- /dev/null
+++ b/examples/microros_sub/CMakeLists.txt
@@ -0,0 +1,35 @@
+#
##############################################################################
+# apps/examples/microros_sub/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
contributor
+# license agreements. See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership. The ASF licenses this
+# file to you 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.
+#
+#
##############################################################################
+
+if(CONFIG_EXAMPLES_MICROROS_SUB)
+ nuttx_add_application(
+ NAME
+ ${CONFIG_EXAMPLES_MICROROS_SUB_PROGNAME}
+ SRCS
+ microros_sub_main.c
+ STACKSIZE
+ ${CONFIG_EXAMPLES_MICROROS_SUB_STACKSIZE}
+ PRIORITY
+ ${CONFIG_EXAMPLES_MICROROS_SUB_PRIORITY}
+ DEPENDS
+ microros_transport)
+endif()
diff --git a/examples/microros_sub/Kconfig b/examples/microros_sub/Kconfig
new file mode 100644
index 000000000..3bbbf5efb
--- /dev/null
+++ b/examples/microros_sub/Kconfig
@@ -0,0 +1,31 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_MICROROS_SUB
+ tristate "micro-ROS int32 subscriber example"
+ default n
+ depends on SYSTEM_MICROROS
+ ---help---
+ Minimal micro-ROS subscriber that creates a node, subscribes to
+ the topic /nuttx_sub with std_msgs/Int32, and prints each
+ received value. Drives an rclc_executor spin loop and is used
+ together with microros_pub (or any external publisher) to
+ validate the NuttX-native transport in the receive direction.
+
+if EXAMPLES_MICROROS_SUB
+
+config EXAMPLES_MICROROS_SUB_PROGNAME
+ string "Program name"
+ default "microros_sub"
+
+config EXAMPLES_MICROROS_SUB_PRIORITY
+ int "micro-ROS sub task priority"
+ default 100
+
+config EXAMPLES_MICROROS_SUB_STACKSIZE
+ int "micro-ROS sub stack size"
+ default 8192
+
+endif
diff --git a/examples/microros_sub/Make.defs b/examples/microros_sub/Make.defs
new file mode 100644
index 000000000..e9fe5aa1d
--- /dev/null
+++ b/examples/microros_sub/Make.defs
@@ -0,0 +1,25 @@
+############################################################################
+# apps/examples/microros_sub/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_MICROROS_SUB),)
+CONFIGURED_APPS += $(APPDIR)/examples/microros_sub
+endif
diff --git a/examples/microros_sub/Makefile b/examples/microros_sub/Makefile
new file mode 100644
index 000000000..a1144a70c
--- /dev/null
+++ b/examples/microros_sub/Makefile
@@ -0,0 +1,32 @@
+############################################################################
+# apps/examples/microros_sub/Makefile
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you 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.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+PROGNAME = $(CONFIG_EXAMPLES_MICROROS_SUB_PROGNAME)
+PRIORITY = $(CONFIG_EXAMPLES_MICROROS_SUB_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_MICROROS_SUB_STACKSIZE)
+MODULE = $(CONFIG_EXAMPLES_MICROROS_SUB)
+
+MAINSRC = microros_sub_main.c
+
+include $(APPDIR)/Application.mk
diff --git a/examples/microros_sub/microros_sub_main.c
b/examples/microros_sub/microros_sub_main.c
new file mode 100644
index 000000000..1e1a6c550
--- /dev/null
+++ b/examples/microros_sub/microros_sub_main.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ * apps/examples/microros_sub/microros_sub_main.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <std_msgs/msg/int32.h>
+
+#include <system/microros_transport.h>
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static std_msgs__msg__Int32 g_rx_msg;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void sub_callback(const void *msgin)
+{
+ const std_msgs__msg__Int32 *msg = (const std_msgs__msg__Int32 *)msgin;
+
+ printf("microros_sub: got %d\n", (int)msg->data);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ rcl_subscription_t subscriber;
+ rcl_allocator_t allocator;
+ rclc_support_t support;
+ rcl_node_t node;
+ rclc_executor_t executor;
+
+ printf("microros_sub: starting\n");
+
+ if (microros_transport_init() != 0)
+ {
+ printf("microros_sub: transport init failed\n");
+ return 1;
+ }
+
+ allocator = rcl_get_default_allocator();
+
+ if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK)
+ {
+ printf("microros_sub: rclc_support_init failed\n");
+ return 1;
+ }
+
+ if (rclc_node_init_default(&node, "nuttx_sub_node", "", &support)
+ != RCL_RET_OK)
+ {
+ printf("microros_sub: node init failed\n");
+ return 1;
+ }
+
+ if (rclc_subscription_init_default(
+ &subscriber,
+ &node,
+ ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+ "nuttx_sub") != RCL_RET_OK)
+ {
+ printf("microros_sub: subscription init failed\n");
+ return 1;
+ }
+
+ executor = rclc_executor_get_zero_initialized_executor();
+ if (rclc_executor_init(&executor, &support.context, 1, &allocator)
+ != RCL_RET_OK)
+ {
+ printf("microros_sub: executor init failed\n");
+ return 1;
+ }
+
+ if (rclc_executor_add_subscription(&executor,
+ &subscriber,
+ &g_rx_msg,
+ &sub_callback,
+ ON_NEW_DATA) != RCL_RET_OK)
+ {
+ printf("microros_sub: add_subscription failed\n");
+ return 1;
+ }
+
+ printf("microros_sub: spinning on /nuttx_sub\n");
+
+ rclc_executor_spin(&executor);
+
+ rclc_executor_fini(&executor);
+ rcl_subscription_fini(&subscriber, &node);
+ rcl_node_fini(&node);
+ rclc_support_fini(&support);
+
+ printf("microros_sub: done\n");
+ return 0;
+}
