Project #4: MicroROS Controlled Differential Drive Bot

Issue Link #4

This projects runs on ESP32 using Platformio. We will drive our robot over WiFi usinf MicroROS interface

Requirments

Software

• VScode
• Platformfio extension
• UBUNTU 22.04 LTS
• ROS2 Humble

Hardware

• Diffirential drive robot from Mobile robotics 3D printing P#1

Installations

• Clone repository

  git clone -b running_projects https://github.com/Robotisim/mobile_robotics_ROS2.git
  

• Open MicroROS_bot package in Vscode to intiate Platformio
• ROS package managers install

  sudo apt-get install python-pip
  sudo pip install -U rosdep
  sudo rosdep init
  rosdep update
  sudo pip install -U rosinstall vcstools rospkg
  

• MicroROS Agent into a ROS2 workspace and build

  git clone -b humble https://github.com/micro-ROS/micro_ros_setup
  colcon build --parallel-workers 2
  

• Build Agent

  source install/setup.bash
  ros2 run micro_ros_setup create_agent_ws.sh
  ros2 run micro_ros_setup build_agent.sh
  

• Upload MicroROS based code into MicroController by pressing "->" on PlatformIO
• Start Agent Serial ( USB)

   ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0
  

• Start Agent Wifi
  • Start Agent

    ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
    

Learning Outcomes

• MicroRos interface for ESP32
• Robot Wireless Driving
• Custom Libraries Integeration