embedded-software-laboratory / micro_ros_espidf_component

micro-ROS ESP32 IDF component and sample code

micro-ROS component for ESP-IDF

This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3 and ESP32-C3.

Dependencies

This component needs colcon and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:

. $IDF_PATH/export.sh
pip3 install catkin_pkg lark-parser colcon-common-extensions

Middlewares available

This package support the usage of micro-ROS on top of two different middlewares:

• eProsima Micro XRCE-DDS: the default micro-ROS middleware.
• embeddedRTPS: an experimental implementation of a RTPS middleware compatible with ROS 2.

In order to select it, use idf.py menuconfig and go to micro-ROS Settings > micro-ROS middleware

Usage

You can clone this repo directly in the components folder of your project.

If you encounter issues during the build process, ensure that you are running in a clean shell environment without the ROS 2 setup script sourced.

Example

In order to test a int32_publisher example:

. $IDF_PATH/export.sh
cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
idf.py build
idf.py flash
idf.py monitor

To clean and rebuild all the micro-ROS library:

idf.py clean-microros

Is possible to use a micro-ROS Agent just with this docker command:

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:iron udp4 --port 8888 -v6

Build with docker container

It's possible to build this example application using preconfigured docker container. Execute this line to build an example app using docker container:

docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v  $(pwd):/micro_ros_espidf_component -v  /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash  -c "cd examples/int32_publisher; idf.py menuconfig build flash monitor"

Dockerfile for this container is provided in the ./docker directory and available in dockerhub. This approach uses ESP-IDF v5.

Using serial transport

By default, micro-ROS component uses UDP transport, but is possible to enable UART transport or any other custom transport setting the colcon.meta like:

...
"rmw_microxrcedds": {
    "cmake-args": [
        ...
        "-DRMW_UXRCE_TRANSPORT=custom",
        ...
    ]
},
...

An example on how to implement this external transports is available in examples/int32_publisher_custom_transport.

Available ports are 0, 1 and 2 corresponding UART_NUM_0, UART_NUM_1 and UART_NUM_2.

Is possible to use a micro-ROS Agent just with this docker command:

# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

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.