cant find CONFIG_MICRO_ROS_APP_STACK and CONFIG_MICRO_ROS_APP_TASK_PRIO during build

Chưa có ai nhận issue này.

## Issue template

- Hardware description: on ESP32, host computer is Ubuntu 22.04 (running ROS Humble)
- RTOS: Freertos
- Installation type:
- Version or commit hash: humble branch

#### Steps to reproduce the issue

I went to example directory of the cloned repository.
I ran the export.sh for the esp-idf (. $IDF_PATH/export.sh )
Created a new project named twist_node --> `idf.py create-project -p . twist_node`
in the twist_node.c file I copied the contents of the int32_publisher/main/main.c file into the twist_node.c
```

`#include
#include
#include

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "esp_system.h"

#include
#include
#include
#include
#include
#include

#include

#ifdef CONFIG_MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE
#include
#endif

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}

rcl_subscription_t twist_sub;

geometry_msgs__msg__Twist twist_msg;

void cmdvelCallback(const void * msgin){
const geometry_msgs__msg__Twist *msg = (const geometry_msgs__msg__Twist *) msgin;
}

void micro_ros_task(void * arg)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;

rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));

#ifdef CONFIG_MICRO_ROS_ESP_XRCE_DDS_MIDDLEWARE
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);

// Static Agent IP and port can be used instead of autodisvery.
RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));
//RCCHECK(rmw_uros_discover_agent(rmw_options));
#endif

// create init_options
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "twisr_node", "", &support));

const rosidl_message_type_support_t * my_type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist);

//create subscriber
RCCHECK(rclc_subscription_init_best_effort(
&twist_sub,
&node,
&my_type_support,
"cmd_vel"));

//create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
RCCHECK(rclc_executor_init(
&executor,
&support.context,
2,
&allocator));

RCCHECK(rclc_executor_add_subscription(
&executor,
&twist_sub,
&twist_msg,
&cmdvelCallback,
ON_NEW_DATA));

while(1){
rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
usleep(1000);
}

RCCHECK(rclc_executor_fini(&executor));
RCCHECK(rcl_subscription_fini(&twist_sub, &node));
RCCHECK(rcl_node_fini(&node));
vTaskDelete(NULL);
}

void app_main(void)
{
#if defined(CONFIG_MICRO_ROS_ESP_NETIF_WLAN) || defined(CONFIG_MICRO_ROS_ESP_NETIF_ENET)
ESP_ERROR_CHECK(uros_network_interface_initialize());
#endif

//pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
xTaskCreate(micro_ros_task,
"uros_task",
CONFIG_MICRO_ROS_APP_STACK,
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO,
NULL);
}
```
Edited the CMakelist,.txt to make it look like this
```

# For more information about build system see
# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
# The following five lines of boilerplate have to be in your project's
# CMakeLists in this exact order for cmake to work correctly
cmake_minimum_required(VERSION 3.5)

set (EXTRA_COMPONENT_DIRS "./../../.")

include($ENV{IDF_PATH}/tools/cmake/project.cmake)
project(twist_node)
```

I did this in order to mimic the cmakelist file in that of the int32_publlisher

#### Expected behavior
```

Project build complete. To flash, run this command:
/home/mahir/.espressif/python_env/idf5.0_py3.10_env/bin/python ../../../../../../../esp/esp-idf/components/esptool_py/esptool/esptool.py -p (PORT) -b 460800 --before default_reset --after hard_reset --chip esp32 write_flash --flash_mode dio --flash_size 2MB --flash_freq 40m 0x1000 build/bootloader/bootloader.bin 0x8000 build/partition_table/partition-table.bin 0x10000 build/int32_publisher.bin
or run 'idf.py -p (PORT) flash
```
`

#### Actual behavior
```
/home/mahir/esp/esp-idf/tools/check_python_dependencies.py:12: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
import pkg_resources
Executing action: all (aliases: build)
Running ninja in directory /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/build
Executing "ninja all"...
[1/1] cd /home/mahir/uros_esp32_ws/src...t_node/build/bootloader/bootloader.binBootloader binary size 0x6700 bytes. 0x900 bytes (8%) free.
[3/9] Building C object esp-idf/main/CMakeFiles/__idf_main.dir/twist_node.c.objFAILED: esp-idf/main/CMakeFiles/__idf_main.dir/twist_node.c.obj
/home/mahir/.espressif/tools/xtensa-esp32-elf/esp-2022r1-11.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc -DMBEDTLS_CONFIG_FILE=\"mbedtls/esp_config.h\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DUNITY_INCLUDE_CONFIG_H -I/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/build/config -I/home/mahir/esp/esp-idf/components/newlib/platform_include -I/home/mahir/esp/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/mahir/esp/esp-idf/components/freertos/esp_additions/include/freertos -I/home/mahir/esp/esp-idf/components/freertos/FreeRTOS-Kernel/portable/xtensa/include -I/home/mahir/esp/esp-idf/components/freertos/esp_additions/include -I/home/mahir/esp/esp-idf/components/esp_hw_support/include -I/home/mahir/esp/esp-idf/components/esp_hw_support/include/soc -I/home/mahir/esp/esp-idf/components/esp_hw_support/include/soc/esp32 -I/home/mahir/esp/esp-idf/components/esp_hw_support/port/esp32/. -I/home/mahir/esp/esp-idf/components/esp_hw_support/port/esp32/private_include -I/home/mahir/esp/esp-idf/components/heap/include -I/home/mahir/esp/esp-idf/components/log/include -I/home/mahir/esp/esp-idf/components/soc/include -I/home/mahir/esp/esp-idf/components/soc/esp32/. -I/home/mahir/esp/esp-idf/components/soc/esp32/include -I/home/mahir/esp/esp-idf/components/hal/esp32/include -I/home/mahir/esp/esp-idf/components/hal/include -I/home/mahir/esp/esp-idf/components/hal/platform_port/include -I/home/mahir/esp/esp-idf/components/esp_rom/include -I/home/mahir/esp/esp-idf/components/esp_rom/include/esp32 -I/home/mahir/esp/esp-idf/components/esp_rom/esp32 -I/home/mahir/esp/esp-idf/components/esp_common/include -I/home/mahir/esp/esp-idf/components/esp_system/include -I/home/mahir/esp/esp-idf/components/esp_system/port/soc -I/home/mahir/esp/esp-idf/components/esp_system/port/include/private -I/home/mahir/esp/esp-idf/components/xtensa/include 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/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/std_srvs -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/stereo_msgs -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/test_msgs -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/tracetools -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/trajectory_msgs -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/ucdr -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/unique_identifier_msgs -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/uxr -isystem /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/visualization_msgs -mlongcalls -Wno-frame-address -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -Og -fmacro-prefix-map=/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node=. -fmacro-prefix-map=/home/mahir/esp/esp-idf=/IDF -fstrict-volatile-bitfields -Wno-error=unused-but-set-variable -fno-jump-tables -fno-tree-switch-conversion -DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1 -std=gnu17 -Wno-old-style-declaration -D_GNU_SOURCE -DIDF_VER=\"v5.0.2\" -DESP_PLATFORM -D_POSIX_READER_WRITER_LOCKS -MD -MT esp-idf/main/CMakeFiles/__idf_main.dir/twist_node.c.obj -MF esp-idf/main/CMakeFiles/__idf_main.dir/twist_node.c.obj.d -o esp-idf/main/CMakeFiles/__idf_main.dir/twist_node.c.obj -c /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c: In function 'cmdvelCallback':
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:31:38: warning: unused variable 'msg' [-Wunused-variable]
31 | const geometry_msgs__msg__Twist *msg = (const geometry_msgs__msg__Twist *) msgin;
| ^~~
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c: In function 'micro_ros_task':
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:63:9: warning: passing argument 3 of 'rclc_subscription_init_best_effort' from incompatible pointer type [-Wincompatible-pointer-types]
63 | &my_type_support,
| ^~~~~~~~~~~~~~~~
| |
| const rosidl_message_type_support_t **
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:23:43: note: in definition of macro 'RCCHECK'
23 | #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
| ^~
In file included from /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/rclc/rclc.h:31,
from /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:14:
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/include/rclc/subscription.h:78:41: note: expected 'const rosidl_message_type_support_t *' but argument is of type 'const rosidl_message_type_support_t **'
78 | const rosidl_message_type_support_t * type_support,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c: In function 'app_main':
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:102:13: error: 'CONFIG_MICRO_ROS_APP_STACK' undeclared (first use in this function); did you mean 'CONFIG_MICRO_ROS_AGENT_IP'?
102 | CONFIG_MICRO_ROS_APP_STACK,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
| CONFIG_MICRO_ROS_AGENT_IP
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:102:13: note: each undeclared identifier is reported only once for each function it appears in
/home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/main/twist_node.c:104:13: error: 'CONFIG_MICRO_ROS_APP_TASK_PRIO' undeclared (first use in this function); did you mean 'CONFIG_MICRO_ROS_AGENT_IP'?
104 | CONFIG_MICRO_ROS_APP_TASK_PRIO,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| CONFIG_MICRO_ROS_AGENT_IP
ninja: build stopped: subcommand failed.
ninja failed with exit code 1, output of the command is in the /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/build/log/idf_py_stderr_output_6529 and /home/mahir/uros_esp32_ws/src/twist_node/components/micro_ros_espidf_component/examples/twist_node/build/log/idf_py_stdout_output_6529

```#### Additional information
I am trying to write a microROS project for making a differential drive robot but I can't even get the example to work on a new project. The example however works by default, I just cant get it to work as a new project. I created the project on the example directory to mimic the example/int32_publisher as best I can but Im not getting anywhere. Help would be appreciated

Bắt đầu với examples/int32_publisher/main/main.c, examples/twist_node/twist_node.c đã sao chép và CMakeLists.txt của dự án. Chạy idf.py build đã được báo cáo và kiểm tra đầy đủ chẩn đoán của trình biên dịch cùng cấu hình build được tạo cho CONFIG_MICRO_ROS_APP_STACK và CONFIG_MICRO_ROS_APP_TASK_PRIO. Hoàn tất khi example được build với các tham chiếu đó đã được phân giải.

Do mô hình lập chỉ mục viết ra từ nội dung của issue.