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I’m still testing it right now, but so far it does compile and upload correctly. All that’s needed is to create a new PlatformIO project, placing the micro_ros_arduino folder inside the lib/ folder that’s generated when you create a new project. After that, you need to modify the platform.txt file to add the build_flags, it’ll end up looking something like this (in my case, the micro_ros_arduino is named microros):

[env:teensy41]
platform = teensy
board = teensy41
framework = arduino
build_flags = -L ./lib/microros/imxrt1062/fpv5-d16-hard/ -l libmicroros

You might need to add #include <Arduino.h> to some files, since platformio does not include it by default. I’ve been trying to test it but haven’t been able to compile the micro_ros_agent to do so.

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