ros2_esp32bot's Introduction

ROS2_ESP32Bot

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Dependency

ROS2 Dashing Diademata
ros2arduino 0.1.3
Micro-XRCE-DDS Agent 1.1.0

Prepare Hardware

Build a your own bot

I bought below parts.

¥1,480 ESP32-DevKitC-32D
¥350 AE-TB6612
¥90 AZ0526

Setup dependency

Setup Micro-XRCE-DDS Agent

You need to setup Micro-XRCE-DDS Agent for using ros2arduino.

Arduino ESP32

If you have not setup arduino environment yet, you can check the instraction at here

Getting started

Make sure you need an access point.

$ git clone https://github.com/shirokunet/ros2_esp32bot
$ cd ros2_esp32bot/main/
$ cp network_config_templrate.h network_config.h
$ vi network_config.h
#define SSID       ""
#define SSID_PW    ""
#define AGENT_IP   ""
#define AGENT_PORT 2018

And write the .ino file into your ESP32.

Run ROS2 nodes for sending commands

Run MicroXRCEAgent

$ MicroXRCEAgent udp -p 2018 -v 6

If you get error messages like below:

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
Aborted (core dumped)

Try to run.

$ LD_PRELOAD="/usr/local/lib/libfastrtps.so.1 /usr/local/lib/libfastcdr.so.1" MicroXRCEAgent udp -p 2018

Run joy_node

$ ros2 run joy joy_node

Run teleop_node

$ ros2 run teleop_twist_joy teleop_node

Useful commands for debugging

$ ros2 node list
$ ros2 topic list
$ ros2 topic echo /esp32bot/status
$ ros2 topic echo /esp32bot/chatter
$ ros2 topic echo /joy
$ ros2 topic echo /cmd_vel