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ros2arduino

Arduino library for communicating with ROS2(DDS)

Version-specific dependencies

• Recommend version (present)

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

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

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]

• [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
    

• 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
    

• 0.0.9 (Micro-XRCE-DDS-Agent 1.0.1)

  • Serial

    $ MicroXRCEAgent --serial /dev/ttyACM0 115200
    

  • UDP

    $ MicroXRCEAgent --udp 2018
    

  • TCP

    $ MicroXRCEAgent --tcp 2018
    

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 to 1.

  #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)

• 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>
      

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.

• Fast RTPS security documentation

Development Note

Lastest release

• Feature
  • Only one node available
  • Publisher
  • Subscriber
• Communication
  • Serial
  • UDP