Micro-ROS with ESP32 tutorial

Container 실행

docker run -it --net=host -v /dev:/dev --privileged --name micro-ros osrf/ros:humble-desktop-full

 
host ( PC)의 usb에 권한 부여
 
 
 
 
- exit 후  재실행

docker start -ai micro-ros

 
- 필요한 패키지 설치

sudo apt install python3-rosdep2 (제일나음)
sudo apt install python3-colcon-common-extensions

 

 
SOURCE 

E: Sub-process /usr/bin/dpkg returned an error code (1)

 
- Dependecies 
 

sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y

 
- micro-ROS 빌드
 

colcon build

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micro-ROS firmware 생성

 
Firmware 구성
 

ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport serial

 

 
Firmware build

ros2 run micro_ros_setup build_firmware.sh

 
 

 
3.8 usb 포트 권한 부여

sudo chmod a+rw /dev/ttyACM0

ls -l /dev/ttyUSB0

 

 
 
 

ros2 run micro_ros_setup flash_firmware.sh

<Error> :

 

 
 
 

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micro-ROS Agent 생성
 

 
 
 

 
 

 
 
 
 
터미널 추가로 열고 docker 접속 
- topic list 확인

 
ping & pong test