Compiling uROSnode

uROSnode
We can find it on Github: https://github.com/openrobots-dev/uROSnode
It is a great work for MCU can run ROS.
https://dl.dropboxusercontent.com/u/2771793/uros/doc/html/pag_demos.html
One great explainition about this project: pdf
ROSCon: http://vimeo.com/66970254

Problem 1:
Compiling ./src/urosUser.c
In file included from ../../include/urosUser.h:45:0,
                 from ./src/urosUser.c:42:
./src/urosUser.c: In function 'urosUserParamUpdate':
./src/urosUser.c:353:21: error: 'UrosRpcParam' has no member named 'class'
     urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
                     ^
../../include/urosBase.h:323:50: note: in definition of macro 'urosError'
 #  define urosError(when, action, msgargs) { if (when) { action; } }
                                                  ^
./src/urosUser.c:368:21: error: 'UrosRpcParam' has no member named 'class'
     urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
                     ^
../../include/urosBase.h:323:50: note: in definition of macro 'urosError'
 #  define urosError(when, action, msgargs) { if (when) { action; } }
                                                  ^
./src/urosUser.c:383:21: error: 'UrosRpcParam' has no member named 'class'
     urosError(paramp->class != UROS_RPCP_INT, return UROS_ERR_BADPARAM,
                     ^
../../include/urosBase.h:323:50: note: in definition of macro 'urosError'
 #  define urosError(when, action, msgargs) { if (when) { action; } }
                                                  ^
make: *** [build/obj/urosUser.o] Error 1
Fix:
Find the struct in uROSnode/include/urosRpcCall.h

typedef struct UrosRpcParam {

  uros_rpcparamclass_t      pclass;      /**< @brief Parameter pclass.*/

  union {

    UrosString              string;     /**< @brief XMLRPC string.*/

    int32_t                 int32;      /**< @brief XMLRPC int/i4.*/

    uros_bool_t             boolean;    /**< @brief XMLRPC boolean.*/

    double                  real;       /**< @brief XMLRPC double.*/

    UrosString              base64;     /**< @brief XMLRPC base64.*/

    void                    *mapp;      /**< @brief XMLRPC struct (map pointer).*/ /* TODO */

    struct UrosRpcParamList *listp;     /**< @brief XMLRPC array (list pointer).*/

  }                         value;      /**< @brief Parameter value.*/

} UrosRpcParam;

Then, just change the variable name from class to pclass. The error seems caused by typo.

Problem 2:
/src/lld/lwip/uros_lld_conn.c:784: undefined reference to `netconn_set_sendtimeout'

At first, I think it seems the lwip version caused error.

Change from 1.4.0 to 1.4.1

However, problem still exist.

/../../ext/lwip/src/api/api_lib.c:627: undefined reference to `sys_now'

build/obj/api_msg.o: In function `do_writemore':

/home/kv/rosnode/ChibiOS_2.5.1/demos/uROSnode/demos/turtlesim-chibios+lwip/../../../../ext/lwip/src/api/api_msg.c:1228: undefined reference to `sys_now'

collect2: error: ld returned 1 exit status

make: *** [build/turtlesim.elf] Error 1

Fix:

Then i just do the dirty thing. That I comment sys_now in 

lwip/src/api/api_msg.c

and 

lwip/src/api/api_lib.c

cause they have no instance.

Finally, the compilation is d
one.

st-flash write build/turtlesim.bin 0x08000000

2014-06-19T16:29:51 INFO src/stlink-common.c: Starting verification of write complete

2014-06-19T16:29:54 INFO src/stlink-common.c: Flash written and verified! jolly good!

But it doesn't Run! Obviously, we have different hardware module with their. 

The difficulty then will be porting the peripheral to the STM32F407 which we using Discovery.

I think porting this could be a great help to my robot!