Micro-ROS with ESP32 using Platform-IO

This repository demonstrates the implementation of Micro-ROS on an ESP32 development board using the PlatformIO environment. The project features a ROS2 publisher that transmits integer messages (std_msgs/msg/Int32) to a specified ROS2 topic.

Prerequisites

Software Requirements

• PlatformIO installed in VS Code
• Micro-ROS library
• ROS2 installed on a compatible system
• Serial transport setup for communication between ESP32 and ROS2

Hardware Requirements

• ESP32 development board
• USB cable for programming and serial communication

Installation

1. Clone the Repository

   git clone https://github.com/Chinmay-ESP/ESP32_MicroROS_PUB.git
   cd ESP32_MicroROS_PUB

2. Install Dependencies Open the project in VS Code and allow PlatformIO to automatically install the required dependencies.

3. Configure Micro-ROS Serial Transport Ensure the correct serial transport setup for ESP32:

   set_microros_serial_transports(Serial);

4. Build and Upload the Code

   pio run --target upload

Project Overview

Core Components

• Publisher: Publishes an integer message to the ROS2 topic micro_ros_platformio_node_publisher.
• Timer: Executes a callback function every second, incrementing and publishing the integer value.
• Executor: Manages asynchronous execution of callbacks.

Key Functionality

• Setup Function (setup()):
  • Initializes the Micro-ROS node, publisher, timer, and executor.
• Loop Function (loop()):
  • Executes the Micro-ROS executor to manage message publishing.

Running the ROS2 Node

To subscribe to the published messages, execute the following command on your ROS2 machine:

ros2 topic echo /micro_ros_platformio_node_publisher

Troubleshooting

• If the Micro-ROS agent is not running, start it using:

  docker run -it --rm --ipc host --network host --privileged microros/micro-ros-agent:humble serial -b 115200 --dev /dev/ttyUSB0

• Ensure the correct USB port is configured in platformio.ini.
• Verify ROS2 and Micro-ROS installations are correctly configured.