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Once you have a ROS 2 installation in the computer, follow these steps to install the micro-ROS build system:
# Source the ROS 2 installation
source /opt/ros/$ROS_DISTRO/setup.bash# Create a workspace and download the micro-ROS tools
mkdir microros_ws
cd microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup# Update dependencies using rosdep
sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y# Install pip
sudo apt-get install python3-pip# Build micro-ROS tools and source them
colcon build
source install/local_setup.bash
These instructions will setup a workspace with a ready-to-use micro-ROS build system. This build system is in charge of downloading the required cross-compilation tools and building the apps for the required platforms.
The build system’s workflow is a four-step procedure:
- Create step: This step is in charge of downloading all the required code repositories and cross-compilation toolchains for the specific hardware platform. Among these repositories, it will also download a collection of ready to use micro-ROS apps.
- Configure step: In this step, the user can select which app is going to be cross-compiled by the toolchain. Some other options, such as transport, agent’s IP address/port (for UDP transport) or device ID (for serial connections) will be also selected in this step.
- Build step: Here is where the cross-compilation takes place and the platform-specific binaries are generated.
- Flash step: The binaries generated in the previous step are flashed onto the hardware platform memory, in order to allow the execution of the micro-ROS app. Further information about micro-ROS build system can be found here.
以上信息来源：First micro-ROS Application on FreeRTOS | micro-ROS
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