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https://github.com/kaiaai/micro_ros_arduino_kaiaai

micro-ROS Arduino library for Kaia.ai robotics software platform
https://github.com/kaiaai/micro_ros_arduino_kaiaai

arduino arduino-library esp32 esp32-arduino kaia-ai micro-ros micro-ros-arduino micro-ros-esp32 open-source remake-ai robot-framework robotics robotics-programming robots ros ros2

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micro-ROS Arduino library for Kaia.ai robotics software platform

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README 

        
# Micro-ROS Arduino library for Kaia.ai



[Kaia.ai](https://kaia.ai) is a platform for 3D-printable pet robots. Please sign up for an early launch invite [here](https://remake.ai).



This repo is an Arduino Micro-ROS library for [Kaia.ai](https://kaia.ai) home pet robots platform.



Questions? Please visit the [Support Forum](https://github.com/makerspet/support/discussions/)!



## Install a library release using Arduino Library Manager

- open your Arduino IDE

- select the Tools -> Manage Libraries menu

- type `kaia` in the search filter

- click Install



## Install a library release by .zip download

- Navigate to the [release section](https://github.com/kaiaai/micro_ros_arduino_kaiaai/releases), expand Assets

and download the latest `Source code (zip)` release

- Launch your Arduino IDE, open the Sketch -> Include library -> Add .ZIP Library... menu and

select the downloaded file named `micro_ros_arduino_kaiaai-2.0.7-iron.3.zip` (the actual version digits may differ)



## Install library using git

Alternatively, you can `git clone` this library as follows. This method may be useful if you need to edit library files or check out different versions of the library.

- confirm the location of your Arduino sketches by opening File -> Preferences in

your Windows Arduino IDE and noting the path "Sketchbook location" path, for example `C:\Users\YOUR-USER-NAME\Documents\Arduino`

- append `\libraries` to the sketchbook location path to get the path to your Arduino libraries,

e.g. `C:\Users\YOUR-USER-NAME\Documents\Arduino\libraries`

- make sure you have installed [Git for Windows](https://gitforwindows.org/) or a similar Windows Git tool

- run commands below in a Windows shell to clone this library to your Windows PC

```

cd %HOMEPATH%\Documents\Arduino\libraries

git clone -b iron --depth 1 https://github.com/kaiaai/micro_ros_arduino_kaiaai micro_ros_kaia

```

Now you can include this library into your sketch using `#include `.



## Mod and rebuild Micro-ROS Arduino library for Kaia.ai

In some cases, tayloring Kaia.ai software to your particular robot may require tweaking the Kaia.ai library code in

addition to the Kaia.ai firmware - for example to add new types of Micro-ROS messages. Follow these steps

to [extend and/or adapt](https://micro.ros.org/docs/tutorials/advanced/create_new_type/) and rebuild the Kaia.ai

Arduino library on Windows for your particular robot design.

- Install Docker for your PC platform, e.g. [Docker for Windows](https://docs.docker.com/desktop/install/windows-install/) and make sure the Docker agent is running

- Install the [Micro-ROS Arduino library for Kaia.ai](https://github.com/kaiaai/micro_ros_arduino_kaia/) using the instructions above.

Let's assume you are using Arduino IDE for Windows and your Arduino libraries are stored under `C:\Users\YOUR-USER-NAME\Documents\Arduino\libraries`.

- Open a Windows command shell and run these commands to rebuild the library using the [Micro-ROS library builder](https://github.com/micro-ROS/micro_ros_arduino):

```

cd %HOMEPATH%\Documents\Arduino\libraries

git clone -b iron --depth 1 https://github.com/kaiaai/micro_ros_arduino_kaia micro_ros_kaia

docker run -it --rm -v .\micro_ros_kaia:/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:iron

```



## Hints

- You can also rebuild the library for a particular platform only, e.g. for ESP32:

```

docker run -it --rm -v .\micro_ros_kaia:/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:iron -p esp32

```



## Acknowledgements and modifications

This is a fork of [Micro-ROS Arduino library](https://github.com/micro-ROS/micro_ros_arduino)

adapted to Kaia.ai-based robots. Specifically, this adapted fork



- fixes `library_generation.sh` script to build the library correctly on Windows

- adds a `git clone` to download the library

- adds [kaiaai_msgs](https://github.com/kaiaai/kaiaai_msgs/) ROS2 package

- moves `WiFi.begin()` outside of the Micro-ROS library for cleaner and convenient code development

- tweaks colcon.meta to optimize library features, performance and memory usage for Kaia.ai applications

- sets up the library for inclusion into the Arduino Library Manager



### API tweaks

Now you can handle connecting to WiFi as you see fit, instead of Micro-ROS doing this for you. For example:

```

  WiFi.begin(ssid, passw);

  Serial.print("Connecting to WiFi ");



  unsigned long startMillis = millis();

  while (WiFi.status() != WL_CONNECTED) {

    if (millis() - startMillis >= 10000) {

      Serial.println(" timed out");

      return;

    }

    Serial.print('.'); // Don't use F('.'), it crashes ESP32

    delay(500);

  }



  Serial.println(F(" connected"));

  Serial.print(F("IP "));

  Serial.println(WiFi.localIP());



  set_microros_wifi_transports("192.168.1.57", 8888); // Micro-ROS setup

```



## Change Log

v2.0.7-iron.4

- added KaiaaiTelemetry2 message

- compiler warning fix



v2.0.7-iron.3

- added version defines MICRO_ROS_KAIA_MAJOR, MICRO_ROS_KAIA_MINOR, MICRO_ROS_KAIA_PATCH, MICRO_ROS_KAIA_BUILD, MICRO_ROS_KAIA_DISTRO

- added version check macro IS_MICRO_ROS_KAIA_MIN_VERSION(major,minor,patch,build)



v2.0.7-iron.2

- fixed missing kaiaai_msg package

- increased the max number of services to 6 to support parameter server



v2.0.7-iron.1

- re-added support for CPU architectures other than ESP32