https://github.com/chinmay-esp/pub_microros_idf
Developed a Micro-ROS publisher on ESP32 using ESP-IDF, publishing a counter to `/count_pub` at 10 Hz. It integrates [micro_ros_espidf_component](https://github.com/micro-ROS/micro_ros_espidf_component.git) and a custom [urosHandler](https://github.com/gawar55/urosHandler.git), communicating with a Micro-ROS Agent for real-time ROS2 applications.
https://github.com/chinmay-esp/pub_microros_idf
cpp espidf espidf-component microros ros2-humble
Last synced: 2 months ago
JSON representation
Developed a Micro-ROS publisher on ESP32 using ESP-IDF, publishing a counter to `/count_pub` at 10 Hz. It integrates [micro_ros_espidf_component](https://github.com/micro-ROS/micro_ros_espidf_component.git) and a custom [urosHandler](https://github.com/gawar55/urosHandler.git), communicating with a Micro-ROS Agent for real-time ROS2 applications.
- Host: GitHub
- URL: https://github.com/chinmay-esp/pub_microros_idf
- Owner: Chinmay-ESP
- Created: 2025-02-24T09:49:42.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2025-02-24T10:04:17.000Z (3 months ago)
- Last Synced: 2025-02-24T10:40:30.175Z (3 months ago)
- Topics: cpp, espidf, espidf-component, microros, ros2-humble
- Language: C++
- Homepage:
- Size: 0 Bytes
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Micro-ROS Publisher on ESP-IDF(ESP32)
This repository contains an implementation of a simple ROS2 Micro-ROS publisher using ESP32. The project publishes an integer counter to the `/count_pub` topic.
## Project Structure
- `sim_pub.hpp`: Header file defining the `simPub` class, which handles the ROS2 publisher.
- `sim_pub.cpp`: Implementation of the `simPub` class, including initialization and timer callback function.
- `main.cpp`: Entry point of the program, initializing the ROS2 Micro-ROS node and adding the publisher component.
## Dependencies
To run this project, you need:
- **ESP-IDF** with Micro-ROS support
- **Micro-ROS Agent** running on a host system
- **ROS2 (Humble or newer)** installed on the host
- **Micro-ROS ESP32 Component**: [micro_ros_espidf_component](https://github.com/micro-ROS/micro_ros_espidf_component.git)
- **Custom Micro Handler**: [urosHandler](https://github.com/gawar55/urosHandler.git)
## Installation & Setup
### 1. Clone the Repository
```sh
git clone https://github.com/Chinmay-ESP/PUB_MicroRos_IDF.git
cd PUB_MicroRos_IDF
```
### 2. Install ESP-IDF & Micro-ROS
Follow the official [Micro-ROS on ESP32](https://micro.ros.org/docs/tutorials/core/first_application_esp32/) guide to set up ESP-IDF and Micro-ROS.
### 3. Add Required Components
```sh
git clone https://github.com/micro-ROS/micro_ros_espidf_component.git components/micro_ros_espidf_component
git clone https://github.com/gawar55/urosHandler.git components/urosHandler
```
### 4. Build & Flash the Code
```sh
idf.py set-target esp32
idf.py build
idf.py flash
```
### 5. Run the Micro-ROS Agent
On your host machine, start the Micro-ROS Agent:
```sh
docker run -it --rm --ipc host --network host --privileged microros/micro-ros-agent:humble serial -b 115200 --dev /dev/ttyUSB0
```
## How It Works
1. **`simPub` Class**:
- Creates a publisher on the `/count_pub` topic.
- Uses a timer callback to publish an increasing integer value.
- Publishes data at a frequency of **10 Hz**.
2. **Main Execution (`app_main`)**:
- Initializes the `uros_master_node`.
- Registers the `simPub` publisher.
## Expected Output
Once the ESP32 is running and the Micro-ROS Agent is active, you should see messages being published in ROS2:
```sh
ros2 topic echo /count_pub
```
Output:
```
data: 0
data: 1
data: 2
...
```