Quick start

Download here (TO DO: create docker image) the micro-ROS docker image that contains a pre-installed client and agent as well as some compiled examples.

Building

Create a ROS 2 workspace and build this package for a given ROS 2 distro (see table above):

source /opt/ros/$ROS_DISTRO/setup.bash

mkdir uros_ws && cd uros_ws

git clone -b cmr_devel git@github.com:cmrobotics/micro_ros_setup.git src/micro_ros_setup

rosdep update && rosdep install --from-path src --ignore-src -y

colcon build

source install/local_setup.bash

Once the package is built, the firmware scripts are ready to run.

Creating micro-ROS firmware

# Creating a FreeRTOS + micro-ROS firmware workspace
ros2 run micro_ros_setup create_firmware_ws.sh freertos olimex-stm32-e407

Configuring micro-ROS firmware

By running configure_firmware.sh command the installed firmware is configured and modified in a pre-build step. This command will show its usage. Replace $AGENT_IP by the set static IP or the IP given by the router.

ros2 run micro_ros_setup configure_firmware.sh bno055 -t udp -i $AGENT_IP -p 8888

By running this command without any argument the available demo applications and configurations will be shown.

Common options available at this configuration step are:

• --transport or -t: udp, serial or any hardware specific transport label
• --dev or -d: agent string descriptor in a serial-like transport (optional)
• --ip or -i: agent IP in a network-like transport (optional)
• --port or -p: agent port in a network-like transport (optional)

Please note that each RTOS has its configuration approach that you might use for further customization of these base configurations. Visit the micro-ROS webpage for detailed information about RTOS configuration.

In summary, the supported configurations for transports are:

	NuttX	FreeRTOS	Zephyr
Olimex STM32-E407	USB, UART, Network	UART, Network	USB, UART

¹ Community supported, may have lack of official support

Building micro-ROS firmware

By running build_firmware.sh the firmware is built:

ros2 run micro_ros_setup build_firmware.sh

Flashing micro-ROS firmware

In order to flash the target platform run flash_firmware.sh command. This step may need some platform-specific procedure to boot the platform in flashing mode:

ros2 run micro_ros_setup flash_firmware.sh

Building micro-ROS-Agent

Using this package is possible to install a ready to use micro-ROS-Agent:

ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.sh
ros2 run micro_ros_agent micro_ros_agent udp4 -p 8888

License

This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues / Limitations

There are no known limitations.

If you find issues, please report them.