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https://github.com/micro-ROS/micro-ROS-Agent

ROS 2 package using Micro XRCE-DDS Agent.
https://github.com/micro-ROS/micro-ROS-Agent

Last synced: about 2 months ago
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ROS 2 package using Micro XRCE-DDS Agent.

Host: GitHub
URL: https://github.com/micro-ROS/micro-ROS-Agent
Owner: micro-ROS
License: apache-2.0
Created: 2018-11-05T10:00:28.000Z (almost 6 years ago)
Default Branch: jazzy
Last Pushed: 2024-05-31T07:28:01.000Z (4 months ago)
Last Synced: 2024-06-22T05:03:40.435Z (3 months ago)
Language: C++
Size: 243 KB
Stars: 93
Watchers: 8
Forks: 50
Open Issues: 25
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE

Awesome Lists containing this project

README

        # micro-ROS Agent

[![GitHub license](https://img.shields.io/github/license/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent)

[![GitHub release](https://img.shields.io/github/release/microROS/micro-ROS-Agent.svg)](https://github.com/microROS/micro-ROS-Agent/releases)

ROS 2 package using Micro XRCE-DDS Agent.

## Overview

This repository contains the Micro-ROS Agent package.

Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.

For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)

This package is a part of the Micro-ROS project stack.

For more information about Micro-ROS project click [here](https://micro-ros.github.io/).

The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.

It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.

The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.

## Package features

### XML generation

During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.

These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.

This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.

### Agent-Client communication mechanism

Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:

- UDP and TCP over IPv4 and IPv6.

- Serial Port transports.

All available configurations are supported directly by the Micro XRCE-DDS agent.

## Purpose of the Project

This software is not ready for production use. It has neither been developed nor

tested for a specific use case. However, the license conditions of the

applicable Open Source licenses allow you to adapt the software to your needs.

Before using it in a safety relevant setting, make sure that the software

fulfills your requirements and adjust it according to any applicable safety

standards, e.g., ISO 26262.

## License

This repository is open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.

For a list of other open-source components included in this repository,

see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).

## Known Issues/Limitations

Please notice the following issues/limitations:

* There is an unknown issue when dealing with serial ports shared with the micro-ROS agent running inside a Docker. Sometimes it works with a remarkable packet loss.

* There is an known issues with serial port communication on micro-ros-agent snap version. It is recommended to use the dockerized version or build it from source.