Updated documentation with setup and build instructions for native an…

…d target build after integration of uROS as library.

doc/ROS2/README.md

@@ -63,4 +63,5 @@ The Webots integration is discussed on the [Webots subpage](./webots/webots.md).
 * [ROS2 Jazzy](./setup/ROS2_Jazzy.md)
 * [Webots](./setup/Webots.md)
 * [Target](./setup/Target.md)
-* [micro-ROS Native](./setup/microROS_Native.md)
+* [micro-ROS Native](./setup/microROS_Native.md)
+* [micro-ROS Agent](./setup/Agent.md)

doc/ROS2/setup/Agent.md

@@ -37,8 +37,28 @@ Once the Agent and the Client are connected, the terminal should show something
 
 ## Using the agent with the wifi interface
 
-The `wifi` transport layer has not been tested yet.
+Start the MicroXRCEAgent binary to listene to UDP connections
+```bash
+./MicroXRCEAgent udp4 -p 1883 -v 6
+[1724834512.980210] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 1883
+[1724834512.981013] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
+[1724834515.742593] debug    | UDPv4AgentLinux.cpp | recv_message             | [==>> UDP <<==]        | client_key: 0x00000000, len: 24, data:
+0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 61 53 75 C7 81 00 FC 01
+[1724834515.742856] info     | Root.cpp           | create_client            | create                 | client_key: 0x615375C7, session_id: 0x81
+[1724834515.744803] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x615375C7, address: 127.0.0.1:9903
+[1724834515.744916] debug    | UDPv4AgentLinux.cpp | send_message             | [** <<UDP>> **]        | client_key: 0x615375C7, len: 19, data:
+0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
+```
+
+## Troubleshooting on WSL environment
+
+UDP connections [setup wsl](./wsl.md#exposing-wsl-udp-ports-to-the-network) (Requires Win 11).
 
 ## Testing the node
 
 In order to test your node, you can use `ros2 topic list` to list all topics used, or `ros2 topic echo <topic_name>` to listen to incoming data in a specific topic.
+
+Publish some test messages (1Hz twist message):
+```bash
+ros2 topic pub -r 1.0 cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
+```

doc/ROS2/setup/Target.md

@@ -3,22 +3,33 @@ How setup and use micro-ROS DCS target `TurtleTarget`
 
 ## Build TurtleTarget
 Perform standard pio build of the TurtleTarget application. It will pull the [micro_ros_platformio](https://github.com/gabryelreyes/micro_ros_platformio) as library dependency and build scripts.
+During the build process the micro_ros_platoformio will build uROS as static library which will be placed in the libdeps directory `.pio/libdeps/TurtleTarget/micro_ros_platformio/libmicroros`.
+
+Create symbolic link to static library. Previous links will be overwritten using the `-f` option (ensure that the relative path is correct from the perspective of the link's location):
+```bash
+ln -sf ../.pio/libdeps/TurtleTarget/micro_ros_platformio/libmicroros ./lib/libmicroros
+```
+
+Verify the target architecture of libmicroros.a is for the ESP32. Command and expected output:
+```bash
+ar p lib/libmicroros/libmicroros.a | file -
+/dev/stdin: ELF 32-bit LSB relocatable, Tensilica Xtensa, version 1 (SYSV), with debug_info, not stripped
+```
 
 ## Bind USB port with WSL
 Make the usb serial port visible to wsl in order to flash the binary using [usbipd](https://learn.microsoft.com/en-us/windows/wsl/connect-usb).
 
 Run the following in an administrator shell:
-```
+```bat
 usbipd bind --busid <busid>
 ```
 
 Check available usb devices and sharing status.
-```
+```bat
 usbipd list
 ```
 ![usbipd list](img/wsl_bind_usb.png)
 
-
 Attach USB bus to wsl shell (no admin rights needed for attaching a shared port)
 ```
 usbipd attach --wsl --busid <busid>

doc/ROS2/setup/microROS_Native.md

@@ -1,6 +1,7 @@
 # Static micro-ROS library
 
 ## Create a workspace for the library
+
 See https://micro.ros.org/docs/tutorials/core/first_application_linux/
 
 Create a workspace and get the micro-ROS tools:
@@ -30,7 +31,6 @@ source install/local_setup.bash
 
 ## Create static micro-ROS library
 
-
 See https://micro.ros.org/docs/tutorials/advanced/create_custom_static_library/
 
 Prepare the micro-ROS environment:
@@ -46,11 +46,16 @@ Now the library can be build by executing
 ros2 run micro_ros_setup build_firmware.sh $(pwd)/my_custom_toolchain.cmake $(pwd)/my_custom_colcon.meta
 ```
 
-
-
 ## Include static micro-ROS library
 
 Create a symbolic link to the library in the the lib folder of the workspace the library should be included
 ```
 ln -s ~/microros_ws/firmware/build libmicroros
-```
+```
+
+## Verify binary type of static library
+To check the binary type of the static library use this command and see expected output:
+```bash
+ar p lib/libmicroros/libmicroros.a | file -
+/dev/stdin: ELF 64-bit LSB relocatable, x86-64, version 1 (SYSV), with debug_info, not stripped
+```

doc/ROS2/setup/wsl.md

@@ -32,7 +32,6 @@ require updates to install for WSL. Then start an Ubuntu console from start menu
 ![Ubuntu Start Menu](./img/ubuntu_start_menu.png)
 
 ## Checking Installation
-
 Check that you have the right distribution installed (Ubuntu 24.04 LTS):
 
 ```bash
@@ -45,7 +44,6 @@ Check that you have the right distribution installed (Ubuntu 24.04 LTS):
 ```
 
 ## New Terminal Window
-
 Is is recommended to install the new Microsoft Terminal Window 
 if not done already. It is available from
 
@@ -54,3 +52,28 @@ if not done already. It is available from
 It offers tabs, history and embedds all kinds of shells (cmd, powershell, Ubuntu, git ...)
 
 ![New Shell](./img/new_shell.png)
+
+
+## Exposing WSL UDP Ports to the Network
+To make UDP ports listening in WSL accessible from your local network, follow these steps:
+Find your WSL IP address by running this command in WSL:
+```bash
+ip addr show eth0
+```
+> **_NOTE:_**
+UDP port forwarding to wsl is not supported without mirrored networking (WSL 2.0.0 on win11)
+
+Open a terminal in an administrator shell on Windows.
+Run the following command to forward the UDP port, replacing [PORT] with your desired port number and [WSL_IP] with the IP address:
+```bat
+netsh interface portproxy add v4tov4 listenport=[PORT] listenaddress=0.0.0.0 connectport=[PORT] connectaddress=[WSL_IP]
+```
+
+To view all forwarded ports:
+```bat
+netsh interface portproxy show all
+```
+To remove a port forward:
+```bat
+netsh interface portproxy delete v4tov4 listenport=[PORT] listenaddress=0.0.0.0
+```