adding ethernet to portenta, using the example in micro_ros_arduino

examples/micro-ros_publisher_ethernet/platformio.ini

@@ -0,0 +1,7 @@
+; [env:portenta_h7_m7]
+; platform = ststm32
+; board = portenta_h7_m7
+framework = arduino
+board_microros_transport = native_ethernet
+lib_deps =
+    https://github.com/micro-ROS/micro_ros_platformio

examples/micro-ros_publisher_ethernet/src/Main.cpp

@@ -0,0 +1,68 @@
+// based on https://github.com/micro-ROS/micro_ros_arduino/blob/humble/examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino
+
+#include <micro_ros_arduino.h>
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <std_msgs/msg/int32.h>
+
+#if !defined(TARGET_PORTENTA_H7_M7)
+#error This example is only available for Arduino Portenta
+#endif
+
+rcl_publisher_t publisher;
+std_msgs__msg__Int32 msg;
+rclc_support_t support;
+rcl_allocator_t allocator;
+rcl_node_t node;
+
+#define LED_PIN LEDR
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
+
+void error_loop(){
+  while(1){
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(100);
+  }
+}
+
+void setup() {
+   byte arduino_mac[] = { 0xAA, 0xBB, 0xCC, 0xEE, 0xDD, 0xFF };
+
+  IPAddress arduino_ip(10, 100, 0, 177);
+  IPAddress agent_ip(10, 100, 0, 111);
+  set_microros_native_ethernet_transports(arduino_mac, arduino_ip, agent_ip, 9999);
+
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, HIGH);
+
+  delay(2000);
+
+  allocator = rcl_get_default_allocator();
+
+  //create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // create node
+  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_ethernet_node", "namespace", &support));
+
+  // create publisher
+  RCCHECK(rclc_publisher_init_best_effort(
+    &publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "topic_name"));
+
+  msg.data = 0;
+}
+
+void loop() {
+    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+    msg.data++;
+    delay(100);
+}

platform_code/arduino/native_ethernet/micro_ros_transport.cpp

@@ -2,7 +2,11 @@
 
 #include <micro_ros_platformio.h>
 
-#include <NativeEthernetUdp.h>
+#if defined(ARDUINO_PORTENTA_H7_M7)
+  #include <EthernetUdp.h>
+#else
+  #include <NativeEthernetUdp.h>
+#endif
 
 #include <uxr/client/util/time.h>
 #include <uxr/client/profile/transport/custom/custom_transport.h>

platform_code/arduino/native_ethernet/micro_ros_transport.h

@@ -1,4 +1,8 @@
-#include <NativeEthernet.h>
+#if defined(ARDUINO_PORTENTA_H7_M7)
+  #include <EthernetUdp.h>
+#else
+  #include <NativeEthernet.h>
+#endif
 
 struct micro_ros_agent_locator {
 	IPAddress address;