micro-ROS

Introduction to micro-ROS, Micro-XRCE and their arduino examples based on ESP32.

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micro-ROS

micro-ROS puts ROS2 nodes onto microcontrollers

micro-ROS setup

• micro-ROS for Renesas e2 studio
• micro-ROS component for ESP-IDF
• micro-ROS module for Zephyr
• micro-ROS module for Mbed RTOS
• micro-ROS app for Nuttx RTOS
• micro-ROS app for Microsoft Azure RTOS
• micro-ROS for STM32CubeMX/IDE
• micro-ROS for Arduino
• micro-ROS module for Raspberry Pi Pico SDK

ROS2 supported distributions are:

ROS 2 Distro	State	Branch
Crystal	EOL	`crystal`
Dashing	EOL	`dashing`
Foxy	Supported	`foxy`
Galactic	Supported	`galactic`
Rolling	Supported	`main`

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eProsima Micro XRCE-DDS

eProsima Micro XRCE-DDS is a library implementing the DDS-XRCE protocol as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers The Micro XRCE-DDS Clients request operations to the Agent to publish and/or subscribe to topics in the DDS global dataspace.

eProsima Micro XRCE-DDS contains:

• Micro XRCE-DDS Client
• Micro XRCE-DDS Agent
• Micro XRCE-DDS Gen

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microROS

Blog: Connect ESP32 to ROS2

1. micro-ROS Installation
   

   pip install -U colcon-common-extensions
   mkdir -p ~/microros_ws/src
   cd ~/microros_ws/src
   git clone -b humble https://github.com/micro-ROS/micro_ros_setup.git
   cd ..
   colcon build
   source install/local_setup.bash
   

2. Install rosdep

   sudo apt install python3-vcstool
   sudo apt install python3-rosdep
   sudo rosdep init
   rosdep update
   

3. Create the micro-ROS agent
   

   ros2 run micro_ros_setup create_agent_ws.sh
   ros2 run micro_ros_setup build_agent.sh
   source install/local_setup.bash
   

4. Running the micro-ROS agent
   ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
   Once connected:
   

5. Testing the micro-ROS app
   ros2 topic list
ros2 topic echo /freertos_int32_publisher
   

6. ESP32 running micro-ROS client
   ros2 topic echo /microros_esp32
   

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micro-ROS for Arduino

ESP32 Arduino

• Preference URLs: https://github.com/espressif/arduino-esp32/releases/download/2.0.5/package_esp32_index.json
• Download micro_ros_arduino-2.0.5-humble.zip
• Sketch> Include Library > Add .ZIP Library > micro_ros_arduino-2.0.5-humble.zip
• Sketchbook> ROS > microROS_publisher_wifi

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Micro-XCRE

• build & install

  git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent
  cd Micro-XRCE-DDS-Agent
  colcon build
  

• run MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200
  

ros2arduino

Code: shirokunet/ros2_esp32bot

Blog: 如何使用esp32從零制作一個ROS2的teleop遙控器

Blog: Setting up an ESP32 microcontroller for ROS2 robotics

Blog: micro-ROS porting to ESP32
core tutorials

ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32

ros2 run micro_ros_setup configure_firmware.sh int32_publisher -t udp -i [your local machine IP] -p 8888

ros2 run micro_ros_setup build_firmware.sh menuconfig

# Now go to the micro-ROS Transport Settings → WiFi Configuration menu and fill your WiFi SSID and password. Save your changes, exit the interactive menu, and run:

ros2 run micro_ros_setup build_firmware.sh

# Connect your ESP32 to the computer with a micro-USB cable, and run:

ros2 run micro_ros_setup flash_firmware.sh

This site was last updated October 07, 2024.