This repository is a part of AnywhereInLoop project

This is an template PlatformIO project for ESP32-ETH-Kit, please use PIO-IDE to open this project and the dependency will be installed by PIO-IDE automatically.

This project realized the communication between PC and ESP32 through UDP. Support the ros_msg data format.

This project did not initialize a ROS node in ESP32. To transmitting data, an extra node is required for building interface between ROS and ESP32.

The file structure is shown below:

.
├── includes # Headers are here
│   └── README
├── lib # Self-defined libiraries
│   ├── ethernet
│   ├── README
│   └── ros_lib # Generated By ROS_Serial
├── platformio.ini # Project configuration file
├── README.md # This file
├── src # Source codes are here
│   ├── eth_task.cc # Ethernet have an individual thread
│   └── main.cpp # main task is used for initialize device
└── test # Unused
    └── README

For self-defined libiraries, here gives using guidance:

ethernet
├── ethernet.cc
├── ethernet.h # Initialize connection and create a thread
└── ros_eth
    ├── eth_rosmsg.cc
    └── eth_rosmsg.h # Defines the receiviable format of ros_msg

In ethernet.h, The class Ethernet_t is defined as a singuleton class, which can only get the instance by using function below:

Ethernet_t::getInstance()

Here are provided API in ethernet.h:

void Ethernet_thread(void* pvParameter);
bool Init(IPAddress static_ip, IPAddress gateway, IPAddress subnet);
void getETHStatus();

The function

void Ethernet_thread(void* pvParameter);

have an weak define in ethernet.cc, which can be overwrite by user, is an FreeRTOS thread entry function.

In ros_eth/eth_rosmsg.h, Here provided 2 often used ros_msg format, you can override the function due to your requirements:

bool getMsg(geometry_msgs::Twist* msg);
bool getMsg(geometry_msgs::TwistStamped* msg);