https://github.com/bcanozter/microros-esp32
microROS ESP32 programs
https://github.com/bcanozter/microros-esp32
docker esp-idf esp32 esp32-camera esp32-s3 espressif macos microros
Last synced: about 1 month ago
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microROS ESP32 programs
- Host: GitHub
- URL: https://github.com/bcanozter/microros-esp32
- Owner: bcanozter
- License: apache-2.0
- Created: 2025-02-17T20:17:23.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-02-18T01:16:32.000Z (over 1 year ago)
- Last Synced: 2025-02-18T02:24:57.809Z (over 1 year ago)
- Topics: docker, esp-idf, esp32, esp32-camera, esp32-s3, espressif, macos, microros
- Language: C
- Homepage:
- Size: 265 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# microROS-ESP32
## Technologies
- MacOS 15.3 Intel Chip
- Docker Engine 27.5.1
- Docker Desktop 4.38.0
- ROS Jazzy
- ESP-IDF 5.2
- ESP32-S3 with 8MB PSRAM
## References
- https://github.com/micro-ROS/micro_ros_espidf_component
- https://github.com/espressif/esp32-camera
- https://micro.ros.org/docs/tutorials/advanced/handling_type_memory/
## MacOS Docker Limitation
Unable to mount `/dev/tty.usb*` devices even when running docker with `--privileged` argument. Espressif has a tool to remotely connect to a serial port.
Issue
- https://github.com/docker/for-mac/issues/900
Solution
- [Remote Serial Port](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-docker-image.html#using-remote-serial-port)
## Packages
This will be populated with different packages as I go.
### camera_publisher
#### Build
#### Terminal 1
`docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v $(pwd):/microROS-ESP32 -v /dev:/dev --privileged --ipc host --workdir /microROS-ESP32 microros-esp32:latest /bin/bash -c "cd sources/camera_publisher; idf.py --port 'rfc2217://host.docker.internal:4000?ign_set_control' menuconfig build flash monitor"`
_Ensure PSRAM is enabled. The ESP32-S3 chip I am using has a 8 MB PSRAM. PSRAM Mode is `Octal Mode PSRAM`, and the clock RAM speed is `80MHz`._
_Ensure to set MicroROS Agent WIFI Adress and Port._
#### Terminal 2
`docker run -it --rm --privileged --ipc host -p "8888:8888/udp" microros/micro-ros-agent:jazzy udp4 --port 8888 -v6`
#### Terminal 3
`esp_rfc2217_server.py -v -p 4000 /dev/tty.usbmodem14401`
#### Output
I used `rqt` to monitor the image topic and visualize. Feel free to use any other ros tool to visualize the image topic.
### gpio_interrupt_publisher
Publish to a ros topic on GPIO interrupt trigger.
### reconnection_example
This example demonsrates the ability to reconnect to a ros agent. De-init node entities gracefully before trying to reconnect.
Then, reinitialize necessary components in order to establish a healthy connection to the microros agent before publishing dummy data.
1. Agent running as initial state.
2. Disconnect agent. Observe `Lost connection` output.
3. Start micro-ros agent.
4. Confirm connection.
[micro-ROS tutorials](https://micro.ros.org/docs/tutorials/programming_rcl_rclc/micro-ROS/)
I came across this helpful micro-ROS tutorial above where I discovered there is a way to ping agent.
Using the `rmw_uros_ping_agent` function to check connection and break the main loop.
```c
if (rmw_uros_ping_agent(100, 3) != RMW_RET_OK)
{
...
printf("Lost connection to micro-ros-agent\n");
...
}
```
### joystick_controller
[Turtlesim](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html#use-turtlesim)
Publish `cmd_vel (geometry_msgs/msg/Twist)` using a 2-axis Joystick connected to esp32.
Use the official ROS turtlesim to test and observe the movement on screen.
Result
### espnow_example
> TODO
## Extras
### Display forwarding MacOS
Check out this guide.
[X11 forwarding on macOS and docker](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088)