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ESP32 Maqueen Battle Bots

This project consists of MicroROS running on an ESP32 and ROS2 running on a Host computer.

The ESP32 based Turtle bot consists of off the shelf parts

https://www.dfrobot.com/product-1783.html

and the MBits ESP32 replacement for a MicroBit boaord. https://www.elecrow.com/mbits.html

  

The Development Environment

The development enviroment will consist of 2 docker containers. One Docker container will run the Host ROS2 system Anther Docker container will act as the Build/Debug platform for the ESP32 code / MicroROS.

Create the Docker container for Esp32 Maqueen Turtlebot

Clone this repository on to your host system From the top level directory, run the following commands.

Build the Docker Image

  • docker build -t mros-esp32-idf docker/microros-espidf/

Launch the container

  • sh docker/microros-espidf/startNode.sh

Compile the ESP32 code from within the container

Execute a bash shell to attach to the container then execute the following commands

  • cd /opt/microros/bots/maqueen-esp32

  • source /opt/esp/idf/export.sh

  • idf.py fullclean

  • idf.py reconfigure

  • idf.py build

Upload the code to the ESP32 board

Connect the MBits board to your host computer and using the USB connection and run the following commands

  • idf.py flash

Once the code is uploaded to the board, you can observe basic logging using the built in Serial Monitor.

  • idf.py monitor

To Create the Docker that will run the Host System

From the top level directory execute

  • docker build -t rosimg ./docker/ros/

  • sh docker/ros/startNodeUnix.sh rosn10

To compile and run the MicroROS Agent code

Execute the following commands

  • cd /opt/ros/ros_ws/agent

  • source /opt/ros/galactic/local_setup.bash

  • source install/local_setup.bash

  • rosdep init

  • rosdep update

  • rosdep install --from-paths src --ignore-src -y

  • colcon build --cmake-clean-cache --cmake-clean-first --cmake-force-configure

To run the MicroROS Agent

Execute the following commands

  • source install/local_setup.bash

  • ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888