rosbot_xl_firmware

ROSbot XL firmware for STM32 microcontroller

Updating firmware

To upload the firmware it is recommended to use Docker, here is usage example:

docker stop rosbot-xl microros || true && \
docker run --rm -it --privileged \
--mount type=bind,source=/dev/ttyUSBDB,target=/dev/ttyUSBDB \
husarion/rosbot-xl:humble \
flash-firmware.py -p /dev/ttyUSBDB

Please take note that firmware version necessary for some tutorials may differ - in this case you should change image version husarion/rosbot-xl:humble to the one used in the tutorial.

Usage

To establish communication with Digital Board use the the micro-XRCE or micro-ROS agent. The recommended way is using the provided husarion/micro-xrce-agent (or husarion/micro-ros-agent) Docker image, you can find a usage example in the demo directory. If you're following one of our tutorials, the agent service should be already included in the compose file.

In more recent versions micro-XRCE agent is used instead of micro-ROS, because ROS Domain ID functionality was added in the v2.4.1 release of Micro-XRCE-DDS-Agent and so far micro-ROS agent wasn't updated to include this feature.

Creating a release

Release is created automatically after PR with bump command is merged to the master branch. Available bump commands are: bump::major, bump::minor and bump::patch (simply add them to the description of your PR).