23.1. libmicroros

• libmicroros.a is the core code library of micro-ROS, which includes the ROS API, ROS middleware interface, and the implementation of DDS.

• Currently, corresponding static libraries have been generated for the GCC toolchain and Andes toolchain. Users can choose to generate the corresponding project as needed.

Note

• Currently, the static library linked by microros is compiled by GCC 13.1.0 and Andes Toolchain v540.

• The configuration file for static library generation is as follows:

  ROS 2 nodes: 6, publishers: 4, subscribers: 4, services: 2, clients: 2, history caches: 2.

{
   "names": {
      "rmw_microxrcedds": {
            "cmake-args": [
               "-DRMW_UXRCE_MAX_NODES=6",
               "-DRMW_UXRCE_MAX_PUBLISHERS=4",
               "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=4",
               "-DRMW_UXRCE_MAX_SERVICES=2",
               "-DRMW_UXRCE_MAX_CLIENTS=2",
               "-DRMW_UXRCE_MAX_HISTORY=2",
            ]
      }
   }
}