Error compiling teensy code

[samprt-heracles]

Compilation error for Teensy 4.1

• Hardware description: Teensy 4.1
• Installation type: micro_ros_setup
• Version or commit hash: humble

Steps to reproduce the issue

I am trying to compile a sketch for a Teensy 4.1 using arduino CLI (version 0.27.1). I added the Teensy support to the CLI and the patch to the platform.txt file. However, I get the following error when performing the following command

$ arduino-cli compile --fqbn teensy:avr:teensy41 <sketch_name>
Used platform Version      Path                                                          
teensy:avr    1.58.0-beta2 /home/sam/.arduino15/packages/teensy/hardware/avr/1.58.0-beta2

Error during build: fork/exec /home/sam/.arduino15/packages/teensy/hardware/avr/../tools/arm/bin/arm-none-eabi-g++: no such file or directory

Expected behavior

Sketch compiles

Actual behavior

Error while compiling

Additional information

• I have tried to uninstall the teensy files and reinstall them but the behavior is the same.
• The tools/ folder contains : teensy-compile teensy-discovery teensy-monitor teensy-tools but not the arm/bin/... folders from the error message.

Any help would be much appreciated !

[Acuadros95]

How did you install Teensy support? Can you compile a simple blink example?

You can check our CI for a working arduino CLI install: CI script

Focus on the Teensy sections:

# INSTALLING TEENSY SUPPORT
wget https://downloads.arduino.cc/arduino-1.8.19-linux64.tar.xz
tar -xf arduino-1.8.19-linux64.tar.xz
wget https://www.pjrc.com/teensy/td_156/TeensyduinoInstall.linux64
chmod 755 TeensyduinoInstall.linux64
./TeensyduinoInstall.linux64 --dir=arduino-1.8.19

[samprt-heracles]

I installed the Teensy support by adding the URL in the arduino-cli.yaml config file and then used the arduino-cli core install teensy:avr command to install the teensy files. After that I could compile the Teensy sketches fine, but when I patch the platform.txt file, I was not able to compile anymore, not even the Blink example.

In your CI script, you seem to copy the whole hardware/teensy folder from the arduino-1.8.19 installation path to the .arduino15/packages folder. There are indeed differences between the files installed by the arduino-cli core install ... command and the arduino-1.8.19 files. However, even when copying the folders as in the CI script, the same error happens during compilation.

[Acuadros95]

Did you try to compile a micro-ROS example without the patch step?

Anyway, micro-ROS support for Teensy is Based on Teensyduino, and the patch is mean for this add-on which is our recommended approach.

Another option is to use micro_ros_platformio, which integrates micro-ROS on the platformIO enviroment, with support for teensy boards. But this goes out of the Arduino IDE scope.

[samprt-heracles]

Yes I tried and it gives undefined references for all rcl functions and variables. I will try the Teensyduino approach now.

[Acuadros95]

Any update on this?

[samprt-heracles]

No luck, sorry. I also tried using platformIO but did not manage either. I lack the experience to get microROS to work on my system. Feel free to close the issue as it seems I am the only one with this problem. Thanks for your help !

[ayaziee]

I have the same issue. I tried using PlatformIO, but I get lots of issues when I try to compile, such as ".pio/libdeps/due/micro_ros_platformio/libmicroros/include/rmw/types.h:392:49: error: expected '}' before 'attribute' ".