https://github.com/hongtai-yuan/microros_ros2
该仓库采用Microros与底盘的esp32控制板进行通信，包含通过串口进行通信及通过ip进行通信，ip通信可能会常常不稳定。
https://github.com/hongtai-yuan/microros_ros2
esp32 microros microros-tutorial
Last synced: about 1 month ago
JSON representation
该仓库采用Microros与底盘的esp32控制板进行通信，包含通过串口进行通信及通过ip进行通信，ip通信可能会常常不稳定。
- Host: GitHub
- URL: https://github.com/hongtai-yuan/microros_ros2
- Owner: Hongtai-Yuan
- Created: 2024-11-09T01:47:07.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2025-01-25T13:55:53.000Z (4 months ago)
- Last Synced: 2025-03-25T08:22:32.533Z (about 2 months ago)
- Topics: esp32, microros, microros-tutorial
- Language: C++
- Homepage:
- Size: 45.9 KB
- Stars: 4
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Microros_ROS2
The Microros chassis host program for our robot helps you communicate with the esp32 on the chassis and the microros control program on it.
## Install dependencies
```bash
cd ~/microros_ws_ros2/
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
colcon build
```
Maybe you'll need clash to speed things up, because microros programs need to clone other dependencies from github.
## If your chassis is connected via wifi
```bash
. install/setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6
```
## If your chassis is connected through a serial port
```bash
sudo chmod 777 /dev/ttyACM*
. install/setup.bash
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 --dev /dev/ttyACM0 -v6
```
## How to test
You can use teleop_twist_keyboard to test(ikjl,)
```bash
sudo apt-get install ros-humble-teleop*
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```