syrkinis / ros2arduino

This library helps the Arduino board communicate with the ROS2 using XRCE-DDS.

ros2arduino

Arduino library for communicating with ROS2(DDS)

Version-specific dependencies

• Recommend version (present)

ros2arduino	ROS2	Micro-XRCE-DDS Agent
0.2.1	Dashing Diademata Patch6	1.3.0

For the Micro-XRCE-DDS Agent, please install it using following commands.

$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent && git checkout v1.3.0
$ mkdir build && cd build
$ source /opt/ros/dashing/setup.bash # to share libraries with ros2
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig /usr/local/lib/

• All

ros2arduino	ROS2	Micro-XRCE-DDS Agent
0.2.1	Dashing Diademata Patch6	1.3.0
0.1.4	Dashing Diademata Patch3	1.1.0
0.1.3	Dashing Diademata Patch3	1.1.0
0.1.2	Dashing Diademata Patch1	1.1.0
0.1.1	Dashing Diademata	1.1.0
0.0.9	Crystal Clemmys	1.0.1

Restrictions

Memory

• RAM : >= 32Kb
• Boards tested : Based on the normal behavior of publisher and subscriber.
  • OpenCR
  • Arduino MKR ZERO
  • ESP32 (not support TCP yet)

Communication

	Implemented	Note
Serial	YES
UDP	YES	ESP32, Ethernet
TCP	NO	Debugging...

Getting Start

Dependancy Installation

You must install ROS2 and XRCE-DDS Agent. (The version should be the same as the Version-specific dependencies above)

• ROS2
• XRCE-DDS Agent
  • Micro-XRCE-DDS Agent for FastRTPS

Upload Arduino sketch

• [File] - [Examples] - [ros2arduino]
  • Serial
    • [publisher]
  • UDP
    • [publisher_wifi_udp]
    • [publisher_ethernet_udp]
  • TCP
    • [publisher_wifi_tcp]
    • [publisher_ethernet_tcp]
• [Sketch] - [Upload]

Excute Micro-XRCE-DDS Agent

• Please refer to eProsima manual for Micro-XRCE-DDS-Agent usage.

• 0.2.1 or above (Micro-XRCE-DDS-Agent 1.3.0)

  • Serial

    $ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200

  • UDP

    $ MicroXRCEAgent udp4 -p 2018

  • TCP

    $ MicroXRCEAgent tcp4 -p 2018

• 0.1.0 ~ 0.1.4 (Micro-XRCE-DDS-Agent 1.1.0)

  • Serial

    $ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200

  • UDP

    $ MicroXRCEAgent udp -p 2018

  • TCP

    $ MicroXRCEAgent tcp -p 2018

• 0.0.9 (Micro-XRCE-DDS-Agent 1.0.1)

  • Serial

    $ MicroXRCEAgent --serial /dev/ttyACM0 115200

  • UDP

    $ MicroXRCEAgent --udp 2018

  • TCP

    $ MicroXRCEAgent --tcp 2018

Check topic on ROS2

$ ros2 topic echo /arduino_chatter

Appendix: How to configure entities from reference file. (available at 0.1.1 or above)

• Use the reference method supported by Client and Agent. Please refer to eProsima manual for detailed usage.

• For this feature, you need to set UXR_CREATE_ENTITIES_USING_REF definition to 1.

   #define UXR_CREATE_ENTITIES_USING_REF 1

  • ros2arduino 0.1.1 ~ 0.1.4
    • You need to change the settings(library code) in ros2arduino library. (In the user_config.h)

• Create .refs file(in XML format) and run the Agent with the following options:

   $ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200 -r ros2arduino.refs

  • An example reference file is as follows.
    • ros2arduino.refs

       <profiles>
       	<participant profile_name="ros2arduino_xml_node">
       		<rtps>
       			<name>ros2arduino_basic_node</name>
       			<builtin>
       				<domainId>0</domainId>
       			</builtin>
       		</rtps>
       	</participant>
      
      
       	<data_writer profile_name="arduino_chatter">
       		<topic>
       			<kind>NO_KEY</kind>
       			<name>rt/arduino_chatter</name>
       			<dataType>std_msgs::msg::dds_::String_</dataType>
       			<historyQos>
       				<kind>KEEP_LAST</kind>
       				<depth>10</depth>
       			</historyQos>
       		</topic>
       	</data_writer>
      
      
       	<data_reader profile_name="arduino_led">
       		<topic>
       			<name>rt/arduino_led</name>
       			<dataType>std_msgs::msg::dds_::Bool_</dataType>
       		</topic>
       	</data_reader>
      
      
       	<topic profile_name="Bool">
       		<kind>NO_KEY</kind>
       		<name>Bool</name>
       		<dataType>std_msgs::msg::dds_::Bool_</dataType>
       	</topic>
      
       	<topic profile_name="String">
       		<kind>NO_KEY</kind>
       		<name>String</name>
       		<dataType>std_msgs::msg::dds_::String_</dataType>
       	</topic>
       </profiles>

Appendix: How to use the Security feature. (available at 0.1.1 or above)

This method should be preceded by the function described in "Appendix: How to configure entities from reference file."

And please check eProsima's manual for how to use it.

• Fast RTPS security documentation

Development Note

Lastest release

• Feature
  • Only one node available
  • Publisher
  • Subscriber
• Communication
  • Serial
  • UDP