micro-ROS · pablogs9 · Jun 2, 2021 · May 24, 2021 · May 28, 2021 · May 28, 2021
diff --git a/.github/ISSUE_TEMPLATE/general-issue.md b/.github/ISSUE_TEMPLATE/general-issue.md
@@ -12,7 +12,7 @@ assignees: ''
 - Hardware description: <!-- hardware where you are using micro-ROS -->
 - RTOS: <!-- RTOS where you are using micro-ROS -->
 - Installation type: <!-- micro_ros_setup, modules, etc  -->
-- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling  -->
+- Version or commit hash: <!-- version of micro-ROS used: foxy, galactic, rolling  -->
 
 #### Steps to reproduce the issue
 <!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->

diff --git a/.github/workflows/generate_api_reference.yml b/.github/workflows/generate_api_reference.yml
@@ -1,5 +1,5 @@
 name: API reference generator
-on: 
+on:
   workflow_dispatch:
     inputs:
       name:
@@ -8,7 +8,7 @@ on:
     - cron:  '0 6 * * *'
 
 jobs:
-  generate_api_reference:
+  generate_rmw_api_reference:
     runs-on: ubuntu-latest
     container: ros:foxy
     steps:
@@ -27,8 +27,8 @@ jobs:
             unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
 
             mkdir -p ros2_ws/src; cd ros2_ws
-            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR 
-            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client 
+            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR
+            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
             git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
             git clone -b foxy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
 
@@ -40,9 +40,45 @@ jobs:
       - name: Create Pull Request
         uses: peter-evans/create-pull-request@v3
         with:
-          commit-message: micro-ROS API reference auto-update ${{ steps.date.outputs.date }}
-          title: micro-ROS API reference auto-update ${{ steps.date.outputs.date }}
-          body: This PR is autogenerated and updates the micro-ROS API reference. Close and reopen to trigger CI.
-          branch: autoupdate_micro_ros_api_reference
+          commit-message: micro-ROS RMW API reference auto-update ${{ steps.date.outputs.date }}
+          title: micro-ROS RMW API reference auto-update ${{ steps.date.outputs.date }}
+          body: This PR is autogenerated and updates the micro-ROS RMW API reference. Close and reopen to trigger CI.
+          branch: autoupdate_micro_ros_rmw_api_reference
+          delete-branch: true
+          base: master
+
+  generate_utils_api_reference:
+    runs-on: ubuntu-latest
+    container: ros:foxy
+    steps:
+      - uses: actions/checkout@v2
+      - name: Get date
+        id: date
+        run: echo "::set-output name=date::$(date +'%d-%m-%Y %H:%M')"
+      - name: Update libraries
+        shell: bash
+        run: |
+          apt update
+          apt install -y doxygen wget git unzip cmake ros-foxy-osrf-testing-tools-cpp
+
+          pushd /
+            wget https://github.com/matusnovak/doxybook2/releases/download/v1.3.3/doxybook2-linux-amd64-v1.3.3.zip
+            unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
+
+            mkdir -p ros2_ws/src; cd ros2_ws
+            git clone -b galactic https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities
+
+            source /opt/ros/$ROS_DISTRO/setup.bash
+            colcon build --packages-up-to micro_ros_utilities --cmake-args -DBUILD_DOCUMENTATION=ON
+          popd
+
+          /doxybook2/bin/doxybook2 --input /ros2_ws/build/micro_ros_utilities/doc/xml --output _includes/utils_doc -c utils/doxy_config -t utils/doxy_templates
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@v3
+        with:
+          commit-message: micro-ROS Utils API reference auto-update ${{ steps.date.outputs.date }}
+          title: micro-ROS Utils API reference auto-update ${{ steps.date.outputs.date }}
+          body: This PR is autogenerated and updates the micro-ROS Utils API reference. Close and reopen to trigger CI.
+          branch: autoupdate_micro_ros_utils_api_reference
           delete-branch: true
           base: master
diff --git a/_data/docs.yml b/_data/docs.yml
@@ -89,4 +89,5 @@
   docs:
    - api/overview
    - api/rmw
+   - api/utils
    - api/rclc
diff --git a/_docs/api/overview/index.md b/_docs/api/overview/index.md
@@ -6,4 +6,5 @@ redirect_from:
 ---
 
 * [**RMW Micro XRCE-DDS**](../rmw/)
+* [**micro-ROS Utils**](../utils/)
 * [**RCLC**](../rclc/)
diff --git a/_docs/api/utils/index.md b/_docs/api/utils/index.md
@@ -0,0 +1,7 @@
+---
+title: micro-ROS Utils
+permalink: /docs/api/utils/
+---
+
+{% include utils_doc/Modules/group__typeutils.md %}
+{% include utils_doc/Modules/group__stringutils.md %}
diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md
@@ -7,7 +7,7 @@ Once you have read about the official [**micro_ros_setup** tool](/docs/concepts/
 
 ## micro-ROS component for ESP-IDF
 
-The [micro-ROS component for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component) allows to integrate micro-ROS as a component in an Espressif ESP-IDF Build System. This component allows the user to integrate the micro-ROS API and utilities in an already created ESP-IDF project just by cloning or copying a folder. 
+The [micro-ROS component for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component) allows to integrate micro-ROS as a component in an Espressif ESP-IDF Build System. This component allows the user to integrate the micro-ROS API and utilities in an already created ESP-IDF project just by cloning or copying a folder.
 
 Configuration of the micro-ROS library is based on the `colcon.meta` file. For more details visit the [Git repository](https://github.com/micro-ROS/micro_ros_espidf_component).
 
@@ -27,4 +27,4 @@ Along with this support package, there are [detailed instructions](https://githu
 
 The [micro-ROS for STM32CubeMX](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) package is a set of utilities which enables the seamless configuration, set-up and integration of micro-ROS into an STM32 controller based project. As such, it allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com/content/st_com/en.html">STMicroelectronics</a>.
 
-Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/foxy/microros_component/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.
+Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/docker/blob/foxy/micro-ROS-static-library-builder/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.
diff --git a/_docs/concepts/build_system/index.md b/_docs/concepts/build_system/index.md
@@ -23,7 +23,7 @@ ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] [HARDWARE BOARD]
 ```
 
 It is possible to obtain a list of the supported hardware by running the command without any argument. By doing so, it is possible to see that along with the RTOSes and hardware supported by micro-ROS this build system also provides with three extra options:
-- By using `zephyr` as RTOS and `host` as hardware name, it is possible to obtain a Zephyr RTOS image with your micro-ROS app that runs in your host computer. 
+- By using `zephyr` as RTOS and `host` as hardware name, it is possible to obtain a Zephyr RTOS image with your micro-ROS app that runs in your host computer.
 - By using just `host` as RTOS, micro-ROS will build a set of [micro-ROS demo applications](https://github.com/micro-ROS/micro-ROS-demos) natively in your host machine. These applications behave just like micro-ROS apps (using the same abstraction layers and middleware implementation) and allow the user to debug and test the applications on a PC.
 - By using `generate_lib` as RTOS it is possible to configure the build system for generating static libraries (`.a`) and a set of headers (`include`) that can be linked in any other external tool. This option requires a valid CMake toolchain.
 
@@ -66,4 +66,4 @@ ros2 run micro_ros_agent micro_ros_agent [OPTIONS]
 
 **Tip 1:** To learn use of the micro_ros_setup build system hands-on, please see the [core tutorials](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/).
 
-**Tip 2 :** Remember that the micro-ROS Agent can be also be used with this simple Docker command: `docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy [OPTIONS]`
+**Tip 2 :** Remember that the micro-ROS Agent can be also be used with this simple Docker command: `docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO [OPTIONS]`