Micro-ROS Publisher on ESP-IDF(ESP32)

This repository contains an implementation of a simple ROS2 Micro-ROS publisher using ESP32. The project publishes an integer counter to the /count_pub topic.

Project Structure

• sim_pub.hpp: Header file defining the simPub class, which handles the ROS2 publisher.
• sim_pub.cpp: Implementation of the simPub class, including initialization and timer callback function.
• main.cpp: Entry point of the program, initializing the ROS2 Micro-ROS node and adding the publisher component.

Dependencies

To run this project, you need:

• ESP-IDF with Micro-ROS support
• Micro-ROS Agent running on a host system
• ROS2 (Humble or newer) installed on the host
• Micro-ROS ESP32 Component: micro_ros_espidf_component
• Custom Micro Handler: urosHandler

Installation & Setup

1. Clone the Repository

git clone https://github.com/Chinmay-ESP/PUB_MicroRos_IDF.git
cd PUB_MicroRos_IDF

2. Install ESP-IDF & Micro-ROS

Follow the official Micro-ROS on ESP32 guide to set up ESP-IDF and Micro-ROS.

3. Add Required Components

git clone https://github.com/micro-ROS/micro_ros_espidf_component.git components/micro_ros_espidf_component
git clone https://github.com/gawar55/urosHandler.git components/urosHandler

4. Build & Flash the Code

idf.py set-target esp32
idf.py build
idf.py flash

5. Run the Micro-ROS Agent

On your host machine, start the Micro-ROS Agent:

docker run -it --rm --ipc host --network host --privileged microros/micro-ros-agent:humble serial -b 115200 --dev /dev/ttyUSB0

How It Works

1. simPub Class:

   • Creates a publisher on the /count_pub topic.
   • Uses a timer callback to publish an increasing integer value.
   • Publishes data at a frequency of 10 Hz.

2. Main Execution (app_main):

   • Initializes the uros_master_node.
   • Registers the simPub publisher.

Expected Output

Once the ESP32 is running and the Micro-ROS Agent is active, you should see messages being published in ROS2:

ros2 topic echo /count_pub

Output:

data: 0
data: 1
data: 2
...