Dependencies

Ubuntu

ROS 2 ex : Humble.

setup-micro

This is about getting your microcontroller project set up with micro-ROS.

install pio core PlatformIO Core Installation

you may want to check out their official setup guide micro-ROS PlatformIO GitHub

clone this repo

build the library

pio lib install
pio run         
pio run --target upload

select the environment

setup-agent

install ros humble

source /opt/ros/$ROS_DISTRO/setup.bash

mkdir uros_ws && cd uros_ws

git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

rosdep update && rosdep install --from-paths src --ignore-src -y

colcon build

source install/local_setup.bash

Build the Agent

ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.sh

run the agent.

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 --agent-ip 192.168.x.x

test

ros2 topic list

ros2 topic info /micro_ros_platformio_node_publisher #for default hello-world node

ros2 topic echo /imu/data

rqt_plot /imu/data/orientation/x:y:z
#or use
rviz2

custom Msgs

1. Go to ROS 2 Workspace:

   cd ~/your_ros2_ws/src

2. New Package for Messages:

   ros2 pkg create custom_msgs --build-type ament_cmake --dependencies rosidl_default_generators std_msgs

3. Define Message File

   cd custom_msgs
   mkdir msg
   touch msg/ImuInfo.msg

   Open msg/ImuInfo.msg and add (example):

   std_msgs/Header header
   
   float64 roll
   float64 pitch
   float64 yaw
   

4. Edit CMakeLists.txt: custom_msgs/CMakeLists.txt and add these lines

   find_package(ament_cmake REQUIRED)
   find_package(rosidl_default_generators REQUIRED)
   find_package(std_msgs REQUIRED)
   
   rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/ImuInfo.msg"
     DEPENDENCIES std_msgs
   )
   
   ament_export_dependencies(rosidl_default_runtime std_msgs)
   ament_package()

5. Edit package.xml: custom_msgs/package.xml and add

   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>rosidl_default_generators</build_depend>
   <build_depend>std_msgs</build_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>

6. Build Custom Message Package

   colcon build --packages-select custom_msgs
   

7. copy to project

   copy the ws that built the custom msgs into extra_packages directory, which is usually : .pio/libdeps/<pio_env>/micro_ros_platformio/extra_packages

   add this to extra_packages.repos

   custom_msgs:
   type: local
   path: custom_msgs
   version: humble
   

   copy that extra_packages folder itself into main PlatformIO project's root directory

8. Rebuild the Library:

   pio run 
   

Using Custom Messages

#include <custom_msgs/msg/imu_info.h> 

rcl_publisher_t euler_pub;

custom_msgs__msg__ImuInfo euler_msg;

euler_msg.roll  = roll_value;  
euler_msg.pitch = pitch_value; 
euler_msg.yaw   = yaw_value; 

// BTW, you can find the exact struct definition  here:
// .pio/libdeps/h743-micro-ros-test/micro_ros_platformio/libmicroros/include/custom_msgs/msg/detail/imu_info__struct.h

// ... then you'd publish it, something like RCLC_PUBLISH(&euler_pub, &euler_msg);