Failing to compile on ESP32

[Flamethr0wer]

Hello, I'm trying to compile this simple code:

#include <HardwareSerial.h>
#include <TMCStepper.h>
#include <FastAccelStepper.h>
#include <micro_ros_arduino.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/float32.h>

HardwareSerial TMCSerial(1);
TMC2209Stepper driver(&TMCSerial, 0.11f, 0b00);

FastAccelStepperEngine engine = FastAccelStepperEngine();
FastAccelStepper *stepper = NULL;

rcl_node_t node;
rclc_support_t support;
rcl_allocator_t allocator;
rclc_executor_t executor;
rcl_subscription_t subscriber;
std_msgs__msg__Float32 msg;

void setup(){
  Serial.begin(115200);
  pinMode(5, INPUT);

  TMCSerial.begin(115200, SERIAL_8N1, 7, 6);
  driver.begin();
  driver.toff(4);
  driver.blank_time(24);
  driver.pdn_disable(true);
  driver.I_scale_analog(false);
  driver.en_spreadCycle(false);
  driver.pwm_autoscale(true);
  driver.rms_current(300);
  driver.microsteps(16);
  driver.TCOOLTHRS(0xFFFFF);
  driver.SGTHRS(50);

  engine.init();
  stepper = engine.stepperConnectToPin(3);
  stepper->setDirectionPin(2);
  stepper->setEnablePin(4, true);
  stepper->setAutoEnable(true);
  stepper->setSpeedInHz(500);
  stepper->setAcceleration(1500);

  set_microros_wifi_transports("[my SSID]", "[my password]", "[my IP]", 8888);
  allocator = rcl_get_default_allocator();
  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "kitchen_dock_node", "", &support);
  rclc_subscription_init_default(&subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32), "/kitchen_dock_cmd");
  rclc_executor_init(&executor, &support.context, 1, &allocator);
  rclc_executor_add_subscription(&executor, &subscriber, &msg, &command_callback, ON_NEW_DATA);
  home();
}

void home(){
  stepper->runBackward();
  while(digitalRead(5) == LOW){
    delay(20);
  }
  stepper->forceStop();
  stepper->setCurrentPosition(0);
}

void command_callback(const void *msgin){
  const std_msgs__msg__Float32 *cmd = (const std_msgs__msg__Float32 *)msgin;
  float target_pos_mm = cmd->data;
  int32_t target_steps = (int32_t)round(target_pos_mm * 320 / 9);
  stepper->moveTo(target_steps);
}

void loop(){
  rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10));
}

But I get this:

C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: C:\Users\ignac\AppData\Local\arduino\sketches\896175D8851AC4286E084BD053A572EB\sketch\Robot_kitchen_dock_ESP32.ino.cpp.o: in function `micro_ros_agent_locator::micro_ros_agent_locator()':
c:\Users\ignac\OneDrive\Escritorio\Arduino\libraries\micro_ros_arduino\src/micro_ros_arduino.h:116:(.text._Z5setupv+0x1e6): undefined reference to `rmw_uros_set_custom_transport'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: C:\Users\ignac\AppData\Local\arduino\sketches\896175D8851AC4286E084BD053A572EB\sketch\Robot_kitchen_dock_ESP32.ino.cpp.o: in function `setup()':
c:\Users\ignac\OneDrive\Escritorio\Arduino\libraries\micro_ros_arduino\src/micro_ros_arduino.h:127:(.text._Z5setupv+0x1f0): undefined reference to `rcutils_get_default_allocator'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: C:\Users\ignac\AppData\Local\arduino\sketches\896175D8851AC4286E084BD053A572EB\sketch\Robot_kitchen_dock_ESP32.ino.cpp.o: in function `set_microros_wifi_transports':
c:\Users\ignac\OneDrive\Escritorio\Arduino\libraries\micro_ros_arduino\src/micro_ros_arduino.h:130:(.text._Z5setupv+0x21c): undefined reference to `rclc_support_init'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: c:\Users\ignac\OneDrive\Escritorio\Arduino\libraries\micro_ros_arduino\src/micro_ros_arduino.h:134:(.text._Z5setupv+0x240): undefined reference to `rclc_node_init_default'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: c:\Users\ignac\OneDrive\Escritorio\Arduino\libraries\micro_ros_arduino\src/micro_ros_arduino.h:134:(.text._Z5setupv+0x248): undefined reference to `rosidl_typesupport_c__get_message_type_support_handle__std_msgs__msg__Float32'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: c:\Users\ignac\OneDrive\Escritorio\Arduino\libraries\micro_ros_arduino\src/micro_ros_arduino.h:134:(.text._Z5setupv+0x266): undefined reference to `rclc_subscription_init_default'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: C:\Users\ignac\AppData\Local\arduino\sketches\896175D8851AC4286E084BD053A572EB\sketch\Robot_kitchen_dock_ESP32.ino.cpp.o: in function `setup()':
C:\Users\ignac\OneDrive\Escritorio\Arduino\Projects\Robot_kitchen_dock_ESP32/Robot_kitchen_dock_ESP32.ino:49:(.text._Z5setupv+0x280): undefined reference to `rclc_executor_init'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: C:\Users\ignac\OneDrive\Escritorio\Arduino\Projects\Robot_kitchen_dock_ESP32/Robot_kitchen_dock_ESP32.ino:50:(.text._Z5setupv+0x2a2): undefined reference to `rclc_executor_add_subscription'
C:/Users/ignac/AppData/Local/Arduino15/packages/esp32/tools/esp-rv32/2511/bin/../lib/gcc/riscv32-esp-elf/14.2.0/../../../../riscv32-esp-elf/bin/ld.exe: C:\Users\ignac\AppData\Local\arduino\sketches\896175D8851AC4286E084BD053A572EB\sketch\Robot_kitchen_dock_ESP32.ino.cpp.o: in function `loop()':
C:\Users\ignac\OneDrive\Escritorio\Arduino\Projects\Robot_kitchen_dock_ESP32/Robot_kitchen_dock_ESP32.ino:52:(.text._Z4loopv+0x12): undefined reference to `rclc_executor_spin_some'
collect2.exe: error: ld returned 1 exit status

I'm using an ESP32-C3 SuperMini and the Humble 2.0.7 version of micro_ros_arduino from the library manager. I've tried downgrading the ESP32 core (to 2.0.17) in case some update broke this but no dice.

[amsjntz]

I had a similar problem trying to compile for an ESP32S3, the issue was that the library provides binaries only for the ESP32 and not for its variants. Is your provided output the entire error you got? In my case there was something about the library not being found further up, do you see anything about that when trying to compile?

[Flamethr0wer]

Yeah, it was the same for me, this doesn't seem to support the ESP32-C3. What I ended up doing was compiling my code with PlatformIO (micro-ros-platformio) instead, which does support the C3. It would be nice if they made this library compatible, too.

[amsjntz]

Don't quote me on this, but for the ESP32 and the ESP32S3, the build targets in extras/library_generation/library_generation.sh seem to be identical. So what worked for me was just copying the folder ~/Arduino/libraries/micro_ros_arduino/src/esp32 to a new folder at ~/Arduino/libraries/micro_ros_arduino/src/esp32s3 (keep in mind the Arduino libraries might be stored somewhere else on your system). Similarly, doing the same but for ESP32C3 might work?

I'm actually thinking about opening a PR for this, but I haven't gone into detail of the build system of this library yet, so maybe I'm missing something.