{"id":28731579,"url":"https://github.com/chinmay-esp/esp32_microros_pub","last_synced_at":"2026-05-19T05:43:19.665Z","repository":{"id":278704391,"uuid":"936504315","full_name":"Chinmay-ESP/ESP32_MicroROS_PUB","owner":"Chinmay-ESP","description":"This project uses Micro-ROS  on ESP32  with PlatformIO  to publish integer messages (`std_msgs/msg/Int32`) to a ROS 2 topic over serial transport. 🚀","archived":false,"fork":false,"pushed_at":"2025-02-24T10:11:08.000Z","size":12,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-06-15T18:26:46.430Z","etag":null,"topics":["cpp","esp32","microros","platformio","ros2-humble"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Chinmay-ESP.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2025-02-21T07:46:37.000Z","updated_at":"2025-02-24T10:11:13.000Z","dependencies_parsed_at":"2025-02-21T08:41:34.397Z","dependency_job_id":null,"html_url":"https://github.com/Chinmay-ESP/ESP32_MicroROS_PUB","commit_stats":null,"previous_names":["chinmay-esp/esp32_microros_pub"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/Chinmay-ESP/ESP32_MicroROS_PUB","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chinmay-ESP%2FESP32_MicroROS_PUB","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chinmay-ESP%2FESP32_MicroROS_PUB/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chinmay-ESP%2FESP32_MicroROS_PUB/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chinmay-ESP%2FESP32_MicroROS_PUB/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Chinmay-ESP","download_url":"https://codeload.github.com/Chinmay-ESP/ESP32_MicroROS_PUB/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Chinmay-ESP%2FESP32_MicroROS_PUB/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":279002373,"owners_count":26083356,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-09T02:00:07.460Z","response_time":59,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cpp","esp32","microros","platformio","ros2-humble"],"created_at":"2025-06-15T18:15:35.450Z","updated_at":"2025-10-10T00:10:34.849Z","avatar_url":"https://github.com/Chinmay-ESP.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Micro-ROS with ESP32 using Platform-IO\n\nThis repository demonstrates the implementation of Micro-ROS on an ESP32 development board using the PlatformIO environment. The project features a ROS2 publisher that transmits integer messages (`std_msgs/msg/Int32`) to a specified ROS2 topic.\n\n## Prerequisites\n\n### Software Requirements\n- [PlatformIO](https://platformio.org/) installed in VS Code\n- [Micro-ROS](https://micro.ros.org/) library\n- ROS2 installed on a compatible system\n- Serial transport setup for communication between ESP32 and ROS2\n\n### Hardware Requirements\n- ESP32 development board\n- USB cable for programming and serial communication\n\n## Installation\n\n1. **Clone the Repository**\n   ```sh\n   git clone https://github.com/Chinmay-ESP/ESP32_MicroROS_PUB.git\n   cd ESP32_MicroROS_PUB\n   ```\n\n2. **Install Dependencies**\n   Open the project in VS Code and allow PlatformIO to automatically install the required dependencies.\n\n3. **Configure Micro-ROS Serial Transport**\n   Ensure the correct serial transport setup for ESP32:\n   ```cpp\n   set_microros_serial_transports(Serial);\n   ```\n\n4. **Build and Upload the Code**\n   ```sh\n   pio run --target upload\n   ```\n\n## Project Overview\n\n### Core Components\n- **Publisher**: Publishes an integer message to the ROS2 topic `micro_ros_platformio_node_publisher`.\n- **Timer**: Executes a callback function every second, incrementing and publishing the integer value.\n- **Executor**: Manages asynchronous execution of callbacks.\n\n### Key Functionality\n- **Setup Function (`setup()`)**:\n  - Initializes the Micro-ROS node, publisher, timer, and executor.\n- **Loop Function (`loop()`)**:\n  - Executes the Micro-ROS executor to manage message publishing.\n\n## Running the ROS2 Node\n\nTo subscribe to the published messages, execute the following command on your ROS2 machine:\n```sh\nros2 topic echo /micro_ros_platformio_node_publisher\n```\n\n## Troubleshooting\n\n- If the Micro-ROS agent is not running, start it using:\n  ```sh\n  docker run -it --rm --ipc host --network host --privileged microros/micro-ros-agent:humble serial -b 115200 --dev /dev/ttyUSB0\n  ```\n- Ensure the correct USB port is configured in `platformio.ini`.\n- Verify ROS2 and Micro-ROS installations are correctly configured.\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchinmay-esp%2Fesp32_microros_pub","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fchinmay-esp%2Fesp32_microros_pub","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchinmay-esp%2Fesp32_microros_pub/lists"}