Add custom ros message to micro_ros_espidf_component help

Hi, my project uses micro_ros_espidf_component which works fine with standard int32 messages, but we would like to use a custom message. To be fair I am not an expert in either cmake build system or esp-idf framework.

Our project looks like this:

- ourProject/
             - CMakeLists.txt
             - sdkconfig
             - components/
                           -  micro_ros_espidf_component // copy of repo, revision jazzy
             - main/       
                           - CMakeLists.txt
                           - main.c
                           - idf_component.yml // micro_ros_espidf_component listed as repo dependency
             - build/

As far as my troubleshooting goes, my attempts to add a components/msgs subdirectory have failed and I have since realised that the custom message(s) need to be part of the micro_ros_espidf_component itself so they are compiled into libmicroros.a.

• My approach is to copy micro_ros_espidf_component into a new components directory. Then main/idf_component.yml lists this as a local directory dependency rather than previously a repo dependency
• the msgs components are not part of micro_ros_espidf_component instead micro_ros_espidf_component/libmicroros.mk does git clone https://github.com/micro-ROS/micro_ros_msgs.
  • THE BIG QUESTION What do I need to do here to add a custom message directory which is then picked up and compiled into libmicroros.a?
  • Ideally I would like to add a MyCustomMessage in a myrepo/components/msgs/MyCustomMessage.msg file along the pattern of this video

Any help is appreciated.

Inizia con libmicroros.mk e con i file del componente e main CMakeLists.txt menzionati nella issue; traccia come viene clonato micro_ros_msgs e come i pacchetti di messaggi entrano in libmicroros.a. Riproduci la configurazione locale del componente con una directory .msg personalizzata, quindi documenta la struttura di progetto supportata e verifica che il messaggio generato sia incluso nella build di ESP-IDF.