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https://github.com/astralien3000/riot-ros2
ROS2 on microcontrollers !
https://github.com/astralien3000/riot-ros2
Last synced: 24 days ago
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ROS2 on microcontrollers !
- Host: GitHub
- URL: https://github.com/astralien3000/riot-ros2
- Owner: astralien3000
- License: apache-2.0
- Created: 2017-03-23T10:02:48.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2018-07-05T13:01:54.000Z (over 6 years ago)
- Last Synced: 2024-08-05T00:04:35.555Z (4 months ago)
- Language: CMake
- Homepage:
- Size: 2.59 MB
- Stars: 24
- Watchers: 12
- Forks: 10
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# RIOT-ROS2
This project enables ROS2 to run on microcontrollers using the RIOT Operating System and the NDN protocol.
More information about the [design](https://github.com/astralien3000/riot-ros2/wiki/Design) of this project is available in the [wiki](https://github.com/astralien3000/riot-ros2/wiki).
# Package support
ROS2 is composed of several layers. Some have been modified to be able to run on microcontroller.
Here is a summary of the main difference between the ROS2 stack and the RIOT-ROS2 stack :
| Layer | Package | ROS2 | RIOT-ROS2 |
|-|-|-|-|
| ROS Client Library bindings | rclc | :heavy_check_mark: | :heavy_check_mark: |
| | rclcpp | :heavy_check_mark: | :x: |
| ROS Client Library | rcl | :heavy_check_mark: | :heavy_check_mark: |
| ROS MiddleWare | rmw_fastrtps | :heavy_check_mark: | :x: |
| | rmw_ndn | :grey_question: | :heavy_check_mark: |
| ROS IDL Generators | generator_c | :heavy_check_mark: | :heavy_check_mark: |
| | generator_cpp | :heavy_check_mark: | :x: |
| ROS IDL Type Support | introspection_c | :heavy_check_mark: | :x: |
| | introspection_cpp | :heavy_check_mark: | :x: |
| | cbor | :grey_question: | :heavy_check_mark: |
| ROS IDL Interfaces | common_interfaces | :heavy_check_mark: | :heavy_check_mark: |
| | rcl_interfaces | :heavy_check_mark: | :heavy_check_mark: |
# Examples
All examples should be able to handle any RMW implementation (see Usage).
## std_msgs::String
- [talker_c](/examples/talker_c/main.c)
- [listener_c](/examples/listener_c/main.c)
## std_msgs::Int32
- [pub_int32_c](/examples/pub_int32_c/main.c)
- [sub_int32_c](/examples/sub_int32_c/main.c)
# Usage
## Requirements
### Ubuntu
```bash
sudo apt install cmake git python3-pip python3-empy g++-multilib
pip3 install vcstool
```
If pyparsing is not installed :
```bash
pip3 install pyparsing
```
If your arm-none-eabi-gcc is too old (< gcc 5) :
```bash
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt install gcc-arm-embedded
```
Required for RIOT (native) :
```bash
sudo apt install libc6-dev-i386
```
### Fedora
Required for ROS2 :
```bash
sudo dnf install cmake git python3-pip python3-empy python3-pyparsing
pip3 install vcstool
# if g++ is not already installed
sudo dnf install gcc-c++
```
Required for RIOT (native) :
```bash
sudo dnf install glibc-devel.i686
```
### Others
Please, follow the requirements for [ros2 official installation instructions](https://github.com/ros2/ros2/wiki/Installation).
## Get the sources
```sh
mkdir -p ~/ros2_riot_ws/src
cd ~/ros2_riot_ws
wget https://raw.githubusercontent.com/astralien3000/riot-ros2/master/ros2.repos
wget https://raw.githubusercontent.com/astralien3000/riot-ros2/master/ament2riot.cmake
vcs import src < ros2.repos
```
Some downloaded package are not supported, you may run these commands to disable them :
```sh
touch src/ros2/rcl_interfaces/test_msgs/AMENT_IGNORE
```
## Two build phase
ROS2 and RIOT have 2 very different build systems. To be able to use them together, you need to build applications in 2 steps : using Ament, as a ROS2 user would normally do (but in the case of cross compilation), and then compiling each application for it's target microcontroller with RIOT's Makefiles.
First phase :
```sh
cd ~/ros2_riot_ws
./src/ament/ament_tools/scripts/ament.py build --symlink-install --cmake-args -DCMAKE_TOOLCHAIN_FILE=`pwd`/ament2riot.cmake
```
After that, you can go to the second build phase.
### Linux native 2nd build phase example
First, setup the tap interface :
```sh
./install/RIOT/dist/tools/tapsetup/tapsetup
```
On a first terminal :
```sh
(cd install/talker_c && make PORT=tap0 all term)
```
On a second terminal :
```sh
(cd install/listener_c && make PORT=tap1 all term)
```
### Board to Linux example
This example have been tested with a [samr21-xpro](https://github.com/RIOT-OS/RIOT/wiki/Board%3A-SAMR21-xpro), but should work with any RIOT-supported board that can communicate via UART with a computer.
Setup the tap interface :
```sh
./install/RIOT/dist/tools/tapsetup/tapsetup
```
To flash the board, and enable the serial link :
```sh
(cd install/talker_c && make BOARD=samr21-xpro PORT=tap0 flash term)
```
To run the native application :
```sh
(cd install/listener_c && make BOARD=native PORT=tap1 all term)
```
The `talker_c` and `listener_c` apps should be seamlessly switchable between the board and native.
# Troubleshooting
If this command fails :
```sh
> ./install/RIOT/dist/tools/tapsetup/tapsetup
creating tapbr0
RTNETLINK answers: File exists
```
Maybe it's because you already called it.
It is not supposed to be called twice.
Try :
```sh
./install/RIOT/dist/tools/tapsetup/tapsetup -d
```