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Feature/lego ev3 support #2044

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b860d5c
Add LEGO Mindstorms EV3 support (Debian Buster, ARMv5TE)
racarla96 Jun 30, 2026
1641f94
Fix link format for micro-ROS for LEGO EV3
racarla96 Jun 30, 2026
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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,7 @@ Community contributed boards are:
| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
| [Arduino Opta](https://store.arduino.cc/products/opta-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
| [LEGO Mindstorms EV3](https://www.lego.com/en-us/themes/mindstorms/ev3) | - | [@racarla96](https://github.com/racarla96) | Debian Buster (ev3dev), [micro_ros_ev3]([https://github.com/racarla96/micro-ROS-for-LEGO-EV3](https://github.com/racarla96/micro_ros_ev3)) | `colcon.meta` |


You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
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22 changes: 22 additions & 0 deletions extras/library_generation/ev3_toolchain.cmake
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@@ -0,0 +1,22 @@
SET(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)

SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")

SET(CMAKE_CXX_STANDARD 14 CACHE INTERNAL "")

set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -march=armv5te -mtune=arm926ej-s -mfloat-abi=soft -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)

set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS}" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti" CACHE STRING "" FORCE)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

set(__BIG_ENDIAN__ 0)
15 changes: 15 additions & 0 deletions extras/library_generation/library_generation.sh
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Expand Up @@ -22,6 +22,7 @@ if [ $OPTIND -eq 1 ]; then
PLATFORMS+=("portenta-m7")
PLATFORMS+=("kakutef7-m7")
PLATFORMS+=("esp32")
PLATFORMS+=("ev3")
fi

shift $((OPTIND-1))
Expand Down Expand Up @@ -244,6 +245,20 @@ if [[ " ${PLATFORMS[@]} " =~ " esp32s3 " ]]; then
cp -R firmware/build/libmicroros.a /project/src/esp32s3/libmicroros.a
fi

######## Build for EV3 (ev3dev Linux, ARMv5TE) ########
if [[ " ${PLATFORMS[@]} " =~ " ev3 " ]]; then
rm -rf firmware/build

export TOOLCHAIN_PREFIX=/usr/bin/arm-linux-gnueabi-
ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/ev3_toolchain.cmake /project/extras/library_generation/colcon.meta

find firmware/build/include/ -name "*.c" -delete
cp -R firmware/build/include/* /project/src/

mkdir -p /project/src/ev3
cp -R firmware/build/libmicroros.a /project/src/ev3/libmicroros.a
fi

######## Fix include paths ########
pushd firmware/mcu_ws > /dev/null
INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
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