ros2arduino
Arduino library for communicating with ROS2(DDS)
Version-specific dependencies
- Recommend version (present)
ros2arduino | ROS2 | Micro-XRCE-DDS Agent |
---|---|---|
0.2.1 | Dashing Diademata Patch6 | 1.3.0 |
For the Micro-XRCE-DDS Agent, please install it using following commands.
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent && git checkout v1.3.0
$ mkdir build && cd build
$ source /opt/ros/dashing/setup.bash # to share libraries with ros2
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig /usr/local/lib/
- All
ros2arduino | ROS2 | Micro-XRCE-DDS Agent |
---|---|---|
0.2.1 | Dashing Diademata Patch6 | 1.3.0 |
0.1.4 | Dashing Diademata Patch3 | 1.1.0 |
0.1.3 | Dashing Diademata Patch3 | 1.1.0 |
0.1.2 | Dashing Diademata Patch1 | 1.1.0 |
0.1.1 | Dashing Diademata | 1.1.0 |
0.0.9 | Crystal Clemmys | 1.0.1 |
Restrictions
Memory
- RAM : >= 32Kb
- Boards tested : Based on the normal behavior of publisher and subscriber.
- OpenCR
- Arduino MKR ZERO
- ESP32 (not support TCP yet)
Communication
Implemented | Note | |
---|---|---|
Serial | YES | |
UDP | YES | ESP32, Ethernet |
TCP | NO | Debugging... |
Getting Start
Dependancy Installation
You must install ROS2 and XRCE-DDS Agent. (The version should be the same as the Version-specific dependencies above)
- ROS2
- XRCE-DDS Agent
- Micro-XRCE-DDS Agent for FastRTPS
Upload Arduino sketch
- [File] - [Examples] - [ros2arduino]
- Serial
- [publisher]
- UDP
- [publisher_wifi_udp]
- [publisher_ethernet_udp]
- TCP
- [publisher_wifi_tcp]
- [publisher_ethernet_tcp]
- Serial
- [Sketch] - [Upload]
Excute Micro-XRCE-DDS Agent
-
Please refer to eProsima manual for Micro-XRCE-DDS-Agent usage.
-
0.2.1 or above (Micro-XRCE-DDS-Agent 1.3.0)
- Serial
$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200
- UDP
$ MicroXRCEAgent udp4 -p 2018
- TCP
$ MicroXRCEAgent tcp4 -p 2018
- Serial
-
0.1.0 ~ 0.1.4 (Micro-XRCE-DDS-Agent 1.1.0)
- Serial
$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200
- UDP
$ MicroXRCEAgent udp -p 2018
- TCP
$ MicroXRCEAgent tcp -p 2018
- Serial
-
0.0.9 (Micro-XRCE-DDS-Agent 1.0.1)
- Serial
$ MicroXRCEAgent --serial /dev/ttyACM0 115200
- UDP
$ MicroXRCEAgent --udp 2018
- TCP
$ MicroXRCEAgent --tcp 2018
- Serial
Check topic on ROS2
$ ros2 topic echo /arduino_chatter
Appendix: How to configure entities from reference file. (available at 0.1.1 or above)
-
Use the reference method supported by Client and Agent. Please refer to eProsima manual for detailed usage.
-
For this feature, you need to set
UXR_CREATE_ENTITIES_USING_REF
definition to1
.#define UXR_CREATE_ENTITIES_USING_REF 1
- ros2arduino 0.1.1 ~ 0.1.4
- You need to change the settings(library code) in ros2arduino library. (In the user_config.h)
- ros2arduino 0.1.1 ~ 0.1.4
-
Create .refs file(in XML format) and run the Agent with the following options:
$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200 -r ros2arduino.refs
- An example reference file is as follows.
- ros2arduino.refs
<profiles> <participant profile_name="ros2arduino_xml_node"> <rtps> <name>ros2arduino_basic_node</name> <builtin> <domainId>0</domainId> </builtin> </rtps> </participant> <data_writer profile_name="arduino_chatter"> <topic> <kind>NO_KEY</kind> <name>rt/arduino_chatter</name> <dataType>std_msgs::msg::dds_::String_</dataType> <historyQos> <kind>KEEP_LAST</kind> <depth>10</depth> </historyQos> </topic> </data_writer> <data_reader profile_name="arduino_led"> <topic> <name>rt/arduino_led</name> <dataType>std_msgs::msg::dds_::Bool_</dataType> </topic> </data_reader> <topic profile_name="Bool"> <kind>NO_KEY</kind> <name>Bool</name> <dataType>std_msgs::msg::dds_::Bool_</dataType> </topic> <topic profile_name="String"> <kind>NO_KEY</kind> <name>String</name> <dataType>std_msgs::msg::dds_::String_</dataType> </topic> </profiles>
- ros2arduino.refs
- An example reference file is as follows.
Appendix: How to use the Security feature. (available at 0.1.1 or above)
This method should be preceded by the function described in "Appendix: How to configure entities from reference file."
And please check eProsima's manual for how to use it.
Development Note
Lastest release
- Feature
- Only one node available
- Publisher
- Subscriber
- Communication
- Serial
- UDP