Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
- UDP over IPv4 and IPv6.
- Serial Port transports.
By default, gcc 5.4.1 is used to generate static libraries in extras/library_generation/library_generation.sh
For serial port:
$ docker run -it -v /dev:/dev --privileged microros/micro-ros-agent:galactic serial --dev /dev/ttyUSB0
For udp port:
$ docker run -it -p 9999:9999/udp --privileged microros/micro-ros-agent:galactic udp4 -p 9999
\ | /
- RT - Thread Operating System
/ | \ 4.0.4 build Jun 9 2021
2006 - 2021 Copyright by rt-thread team
msh >
msh >microros_pub_int32
[micro_ros] node created
[micro_ros] publisher created
[micro_ros] timer created
[micro_ros] executor created
[micro_ros] New thread mr_pubint32
Once connected, you should see the output:
Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0
[1623057529.937043] info | TermiosAgentLinux.cpp | init | running... | fd: 4
[1623057529.937150] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[1623057541.764331] info | Root.cpp | create_client | create | client_key: 0x6F7B427A, session_id: 0x81
[1623057541.764507] info | SessionManager.hpp | establish_session | session established | client_key: 0x1870348922, address: 0
And the corresponding topic:
$ docker exec -it YOUR_DOCKER_CONTAINER_NAME /bin/bash
$ ros2 topic echo /micro_ros_rtt_node_publisher
data: 0
---
data: 1
---
data: 2
---
data: 3
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