POSIX timers for zephyr fix in rcutils is not being reflected in the humble release

[uLipe]

• RTOS: Zephyr
• Installation type: module
• Version or commit hash: humble

Steps to reproduce the issue

After cloning a fresh copy of micro ROS module for zephyr I was not able to build because problems with posix time implementation for Zephyr. It seems the current humble release is not reflecting the fix that was submitted to the rcutils: ros2/rcutils#390

Expected behavior

It shoud build the binary to be flashed to the board using west flash

Actual behavior

It fails during the build, pointing error in the posix/time.h path for zephyr.

[uLipe]

@pablogs9 @Acuadros95 could you please clarify?

Looking at the humble branch on the rcutils, it seems the additions for handling Zephyr posix time are not there:

https://github.com/ros2/rcutils/blob/6724d8a0f842e13cac07f2e90a06f79ae6fcfc48/src/time_unix.c#L38

[uLipe]

@microbuilder, you might be interested on this.

[pablogs9]

@uLipe ros2/rcutils#390 targets rolling branch has not been backported to humble, in any case I backported manually to the micro-ROS branch.

Here you can see the origin/ros2 branch and the micro-ROS branch above:

For me is easier to manually backport to micro-ROS but ideally, changes shall be backported in ROS 2 package. Could you take a look at the git tree and tell me which PR should I backport?

[uLipe]

@pablogs9 thanks for the clarification, to get the microROS working fine across the Zephyr versions we discussed previously the PR I flagged above is required, would you be able to backport it to humble?

[pablogs9]

Yes but please, let me know which commit do you need to backport to humble branch

[uLipe]

@pablogs9, sure the missing commit I see is:

4767778eba04f11eaa4a924648ff4bca5433396c

[pablogs9]

Let me know if this works for you

[uLipe]

@pablogs9 , this works fine to me.

Thank you for your support.

[pablogs9]

Cool. Closing, reopen if not solved.