ROS2 on i.MX93 SOM EVK

[anandhu-sudha]

Has anyone tried using the ROS2 on i.MX93 in the M33 cortex with FreeRTOS? I am trying to integrate the microros in the freeRTOS provided in the SDK for the imx93. How to add the required files to the sdk project, or any other alternative way to run micro-ros as well as SDK examples. Anything remotely close to the answers are also welcome, that might open a new perspective.

Thank You.

[danielchen]

Hi

I would suggest you refer to below article, porting Micro-ROS on Frdm-MCXN947.    The MCXN947 is an M33 core. 

Porting Micro-ROS on Frdm-MCXN947 - NXP Community

Regards

Daniel

[anandhu-sudha]

Thank you @Daniel for the reply ,

Missed quite a few details on the query posted at first, that i will mention now:
Hardware Environment：
    I.MX93 EVB
Software Environment:
    Ubuntu 22.04
    IDE：VSCode with MCUXpresso IDE 
    SDK：SDK Builder | MCUXpresso SDK Builder (nxp.com)

Requirement: to use the microros in the m33 core of the IMX93 EVB and use RPmsg instead of UART communication to the processor.

By following the steps mentioned in the "Porting Micro-ROS on Frdm-MCXN947" , i was able to create the static library "libmicroros.a" and the header files. how can i integrate this in the firmware ? how to combine this with the freeRTOS example codes provided in the SDK example.
since we cannot use direct mcuxpresso ide for the imx93, using  the extension on the VSCode, in this how can i link the generated static libraries as well as the header files for this one. Does VSCode provides this linking section anywhere? 

Only in the cmakelist.txt has the details regarding the libraries, but how can i link the static library and the header files that i have generated by following the link you have provided. 

cmakelist & main files are attached.

[anandhu-sudha]

Can i get an update on this please?