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Micro ROS agent on Raspberry Pi 3

asked 2021-03-07 23:05:20 -0600

BotzRock
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Hello - I’m exploring ROS2 Foxy and attempting to get a test setup built. I have a PC running ROS2 and ROS2 installed on a Raspberry Pi3. They can run the talker and listener examples and communicate.

Now I am attempting to add a Teensy 4.1 into the mix. I went though the micro ROS installation instructions and I believe I have the publisher example loaded. Though I couldn’t use the 0.0.4 release. I used the latest micro_ros_arduino repository source.

The challenge I am having is that I don’t know how to introduce the ROS2 agent into this mix. I’d like it to be running on the Rapsberry Pi but it’s unclear how to build it. It’s also unclear to me how to connect the devices. Is this done via USB?

Can anyone point me to documentation for how to get the micro ROS agent running on the Raspberry Pi? And how do I know if the Teensy is communicating with it properly?

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answered 2021-03-08 03:15:09 -0600

Pablogs
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You can use the micro-ROS Agent in the Raspberry Pi by using the snap image:

snap install micro-xrce-dds-agent

and then once the Teensy is connected to your RPi just launch the agent:

micro-xrce-dds-agent serial --dev [YOUR TEENSY PORT] -v6

You can check the serial port by:

ls /dev/serial/by-name/

If you have some more issues please open an issue in some of our Github repos. Thanks!

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ah...this sort of works. I run it on the pi, the esp running micro ros finds the agent, but the RMW returns errors and doesn't fully connect. Thoughts? The node init fails with a 1. If I use a normal micro ros agent running on linux x86, it connects and publishes great.

rclc_node_init_default

wegunterjr ( 2021-11-14 09:12:44 -0600 )edit

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Asked: 2021-03-07 23:04:15 -0600

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Last updated: Nov 14 '21

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Micro ROS agent on Raspberry Pi 3