micro-ROS component for ESP-IDF

This component has been tested in ESP-IDF v4.4, and v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.

Dependencies

This component needs colcon and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:

. $IDF_PATH/export.sh
pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4

Middlewares available

This package support the usage of micro-ROS on top of two different middlewares:

• eProsima Micro XRCE-DDS: the default micro-ROS middleware.
• embeddedRTPS: an experimental implementation of a RTPS middleware compatible with ROS 2.

In order to select it, use idf.py menuconfig and go to micro-ROS Settings > micro-ROS middleware

Usage

You can clone this repo directly in the components folder of your project.

If you encounter issues during the build process, ensure that you are running in a clean shell environment without the ROS 2 setup script sourced.

Example

In order to test a int32_publisher example:

. $IDF_PATH/export.sh
cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
idf.py build
idf.py flash
idf.py monitor

To clean and rebuild all the micro-ROS library:

idf.py clean-microros

Is possible to use a micro-ROS Agent just with this docker command:

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:foxy udp4 --port 8888 -v6

Build with docker container

It’s possible to build this example application using preconfigured docker container. Execute this line to build an example app using docker container:

docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v  $(pwd):/micro_ros_espidf_component -v  /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash  -c "cd examples/int32_publisher; idf.py menuconfig build flash monitor"

Dockerfile for this container is provided in the ./docker directory and available in dockerhub. This approach uses ESP-IDF v5.

Using serial transport

By default, micro-ROS component uses UDP transport, but is possible to enable UART transport or any other custom transport setting the colcon.meta like:

...
"rmw_microxrcedds": {
    "cmake-args": [
        ...
        "-DRMW_UXRCE_TRANSPORT=custom",
        ...
    ]
},
...

An example on how to implement this external transports is available in examples/int32_publisher_custom_transport.

Available ports are 0, 1 and 2 corresponding UART_NUM_0, UART_NUM_1 and UART_NUM_2.

Is possible to use a micro-ROS Agent just with this docker command:

# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6

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 file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

There are no known limitations.

Changelog for package micro_ros_espidf

5.0.1 (2024-06-03)

• Bump jazzy (#246)
• Add multithread to CI (#238)
  • Add multithread to CI
  • Fix multithread example

  * Override esp_macros fro micro-ROS build ---------

• Update IDF versions (#230)
  • Update IDF versions

  * Update nightly ---------

• Forcing to use make on Unix (#223) (#225) This also makes the process fail if pulling external code fails. (cherry picked from commit d2249e8f34223f16cdec2e2151a5f5537842014d) Co-authored-by: flabrosse <<ffl@aber.ac.uk>>
• Ignore lttngpy (#222)
• Fix empy dep (#213) (#214) (cherry picked from commit dd5108214f747780ac401ab50a2b6ae97f1480fc) Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>
• Patch CI (#208) (#210) Remove when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved (cherry picked from commit d0e63d9ab1d4b1b2777e68b715c5ea6d20ad68f4) Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>
• Remove micro-ROS fork (#204)
• Contributors: Antonio Cuadros, Pablo Garrido, mergify[bot]

5.0.0 (2023-06-12)

• Update rolling branches (#197)
• Replace repo with micro-ROS fork (#192)
• Fix rolling sources (#185)
• Ignore tracetools tests (#184)
• Update to new RCL fork (#182)
• Add IDF 5 support and deprecate versions 4.1 and 4.2 (#176)
• Add rosidl_core_generators (#158)
• Add example_interfaces package (backport #149) (#150)

4.0.0 (2022-05-25)

• Update banner (#143)
• Fixed build when PATH contains spaces (#140)
• Add logos (#137)
• Fix include paths (#136)
• Fix includes
• Fix service server example (#128) (#130)
• Fix include paths (#126)
• esp32s3: add esp32s3 support (#120) (#124)
• Fix atomics (#121)
• fix wrong ar command (#117) (#119)
• Add support for ESP-IDF v4.4 (#110)
• custom cmake target: idf.py clean-ros (#105) (#106)
• Fix embeddedRTPS repo (backport #102) (#103)
• Set ESP flag and change rtps branch (backport #99) (#100)
• Add embeddedRTPS as experimental middleware (backport #95) (#97)
• Fix heartbeat time (#91) (#93)
• Update dockerfile baseimage (#87) (#88)
• support for vcs import of extra packages (#83) (#85)
• Add multithread example (#82)
• ping pong application example for esp32 w/idf (#79) (#80)
• multichange tool (#76) (#78)
• Fix utils path (#73)
• Initial param example (#72)
• Add static type handler (#68)
• Enable introspection (#67)
• Initial changes for Rolling release
• Update Nightly
• Simplify Colcon installation (#64)
• Fix for building after sourcing ROS setup script (#63)
• Fix IDF 4.3 atomic 64 exchange (#62)
• Update RMW API
• Modify RMW API include (#41)
• optional app-colcon.meta in project directory (#57)
• Fix example
• Manually merged changes from old branch (#56)
• Remove IDF latest from CI (#55)
• ESP32c3 support (#52)
• Add IDF v4.3 support (#51)
• bugfix for ADDITIONAL_CLEAN_FILES (#49)
• Fix RCLC foxy (#48)
• Fix nightly
• Update custom transport example (#46)
• Update rclc repo (#40)
• Clean old transports files (#43)
• Fix include network util (#42)
• Update external transports API (#38)
• Fix colcon.meta (#39)
• Update nightly with latest IDF (#37)
• Add master IDF to CI (#33)
• Add issue template
• Add nightly CI
• Support extra packages (#30)
• examples: simplifies the examples and pack, when possible, into a single source file. (#26)
• feature/ethernet: Enable support of the microROS over the ethernet interface (#24)
• Update README.md
• support for CONFIG_PM_ENABLE added (#22)
• Add new micro_ros_msgs repo (#21)
• Support for ESP32-S2 (#19)
• Rework demo (#17)
• rework demo (#16)
• make: added -j to enable parallel build jobs (#15)
• Update meta defaults (#14)
• Add IDF v4.3 support (#13)
• Fix rclc spin time
• Update rclc_int32_publisher.c (#12)
• Refactor module structure (#11)
• Update README.md
• Update README.md
• Enabling Agent autodiscovery
• Update sdkconfig.defaults (#4)
• Update README.md
• Removed && in docker run (#7)
• Posibility to build in docker container. (#6)
• Typo
• Removed libatomic (#3)
• Update README.md
• Add Serial support (#2)
• Add licensing
• Added CI
• Added agent
• Updated Readme
• Deleted TODO
• Initial commit
• Initial commit