How does someone make use of this in a zephyr project?

[chmorgan]

How should someone add this module to their existing zephyr project?

[pablogs9]

This is a sample application, we will modify it to be a pure module. But by now, you can replicate this structure in you zephyr project.

[gseqBE]

@chmorgan
I had asked this question some time ago

1. Treated this repo as a submodule
2. We placed it in a folder called libraries, where all our external submodules are.
3. Add to Cmakelists.txt
   list(APPEND ZEPHYR_EXTRA_MODULES ${CMAKE_CURRENT_SOURCE_DIR}/<library path from above>/micro_ros_zephyr_module/modules/libmicroros/)
4. We also had the below in the project .conf

CONFIG_MICROROS=y
CONFIG_APP_LINK_WITH_MICROROS=y

5. Then: west build -t menuconfig, and enable libmicroros under modules and make config changes.