HeROS_micro_ros

Description

Controlling environmental obstacles as part of the HeROS project.

Hardware:

• FireBeetle ESP32 IoT Microcontroller

ESP-IDF installation

1. It's highly recommend to install the ESP-IDF as VSCode Extension using this manual.
2. Choose Express setup mode.

Potential issues when connecting to ESP32 over USB

1. Add yourself to dialout group.
2. sudo apt-get remove brltty

Workspace organization

~/uros_ws |- app_ws
          |- agent_ws

micro-ROS application:

cd uros_ws/app_ws/src/
git clone git@github.com:jkaniuka/HeROS_micro_ros.git
cd HeROS_micro_ros/
source ~/esp/v5.2.1/esp-idf/export.sh
pip3 install catkin_pkg lark-parser colcon-common-extensions
cd obstacles_controller/
idf.py set-target esp32
idf.py menuconfig
idf.py build flash monitor

micro-ROS agent:

cd uros_ws/agent_ws/src/
git clone git@github.com:micro-ROS/micro_ros_setup.git -b humble
source /opt/ros/humble/setup.bash
colcon build
. install/setup.bash
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
. install/setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6

Example command to rotate an obstacle

ros2 service call /obstacle_1 example_interfaces/srv/SetBool "{data: True}"