How to get MicroROS thread support for Zephyr

[Johannes-42]

Issue template

• Hardware description: Olimex STM32-E407
• RTOS: Zephyr
• Installation type: -
• Version or commit hash: -

Steps to reproduce the issue

Set up MicroROS like in the Tutorial: https://micro.ros.org/docs/tutorials/core/first_application_rtos/zephyr/ Then add: "microxrcedds_client": { "cmake-args": [ "-DUCLIENT_PROFILE_MULTITHREAD=ON" ] } to the app-colcon.meta file.

Expected behavior

Enable multithreading.

Actual behavior

zephyr/microros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/multithread/multithread.h:49:20: error: field 'impl' has incomplete type 49 | struct k_mutex impl;

Additional information

Same as https://github.com/micro-ROS/micro_ros_setup/issues/668 but for Zephyr and not freeRTOS Which directories do I need to include? (I guess in the arm_toolchain.cmake.in)

[czarekk215]

@pablogs9 Do you know what can cause error?