diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 11d52f359..b8b0a2543 100755 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -54,6 +54,7 @@ jobs: arduino-cli lib install WiFiNINA arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3" arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details. + arduino-cli lib install WiFiEspAT # Build all demos arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v @@ -81,3 +82,5 @@ jobs: arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v + # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT + arduino-cli compile --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v diff --git a/README.md b/README.md index 883e82fa8..06d830664 100755 --- a/README.md +++ b/README.md @@ -24,27 +24,30 @@ As the build process for ROS 2 and micro-ROS is based on custom meta-build syste Supported boards are: -| Board | Min version | State | Details | .meta file | -| ----------------------------------------------------------------------------------- | ----------- | ---------- | --------------------------------------------------------------------------------------------------- | ------------------------ | -| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7) | v1.8.5 | Supported | Official Arduino support | `colcon.meta` | -| [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect) | v1.8.5 | Supported | Official Arduino support | `colcon_verylowmem.meta` | -| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) | v1.4.16 | Supported | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta` | -| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon.meta` | -| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon.meta` | -| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon_lowmem.meta` | -| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon_lowmem.meta` | -| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon_lowmem.meta` | -| [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5 | Supported | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta` | +| Board | Min version | State | Details | .meta file | +| ----------------------------------------------------------------------------------------------------------- | ----------- | ---------- | ---------------------------------------------------------------------------------------------------- | ------------------------ | +| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7) | v1.8.5 | Supported | Official Arduino support | `colcon.meta` | +| [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect) | v1.8.5 | Supported | Official Arduino support | `colcon_verylowmem.meta` | +| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) | v1.4.16 | Supported | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta` | +| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon.meta` | +| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon.meta` | +| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon_lowmem.meta` | +| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html) | v1.8.5 | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon_lowmem.meta` | +| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html) | v1.8.5 | Supported | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/) | `colcon_lowmem.meta` | +| [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5 | Supported | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta` | Community contributed boards are: -| Board | Min version | Contributor | Details | .meta file | -| ---------------------------------------------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ | -| [Arduino Due](https://store.arduino.cc/arduino-due) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | -| [Arduino Zero](https://store.arduino.cc/arduino-zero) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | -| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | - | [@amfern](https://github.com/amfern) | | `colcon.meta` | -| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | - | [@dominikn](https://github.com/dominikn) | | `colcon.meta` | -| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | | `colcon.meta` | +| Board | Min version | Contributor | Details | .meta file | +| ---------------------------------------------------------------------------------------- | ----------- | ------------------------------------------------------ | ------------------------------------------------------------------------- | ------------------------ | +| [Arduino Due](https://store.arduino.cc/arduino-due) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | +| [Arduino Zero](https://store.arduino.cc/arduino-zero) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` | +| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | - | [@amfern](https://github.com/amfern) | | `colcon.meta` | +| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | - | [@dominikn](https://github.com/dominikn) | | `colcon.meta` | +| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | | `colcon.meta` | +| [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` | +| [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` | +| [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` | You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types). diff --git a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino index cca3ae549..eafce53cd 100755 --- a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino +++ b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino @@ -9,7 +9,7 @@ #include #if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) -#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal +#error This example is only available for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal #endif rcl_publisher_t publisher; diff --git a/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino b/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino new file mode 100755 index 000000000..9621a9636 --- /dev/null +++ b/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino @@ -0,0 +1,89 @@ +// To use "ESP-AT External WiFi module"(hereinafter called "ESP-AT") with your board, install "WiFiEspAT" from Library Manager. +// See https://www.espressif.com/en/products/sdks/esp-at/overview for more details about ESP-AT. + +#define BOARD_WITH_ESP_AT +// Configurations about communication between Host MCU and ESP-AT. +// In most cases, you would burn ESP-AT firmware v2 or later. And you should uncomment "#define WIFIESPAT1" in EspAtDrvTypes.h +// See https://github.com/JAndrassy/WiFiEspAT/tree/7f398e14f331fc845c4af671f1946fe3f29a744f#getting-started for more details. +#define ESP_AT_SERIAL_PORT Serial1 // Serial port object to ESP-AT +#define ESP_AT_BAUDRATE 115200 // Baudrate setting in ESP-AT firmware(default is 115200) +#define ESP_AT_RESET_PIN -1 // GPIO_PIN connected to ESP-AT's reset pin(-1 means not to use hardware reset) + +#include + +#include + +#include +#include +#include +#include +#include + +#include + +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) +#define BOARD_HAS_NATIVE_WIFI +#endif + +#if defined(BOARD_HAS_NATIVE_WIFI) +#error This example is not available for boards that have native WiFi. +#endif + +rcl_publisher_t publisher; +std_msgs__msg__Int32 msg; +rclc_support_t support; +rcl_allocator_t allocator; +rcl_node_t node; + +#define LED_PIN 13 + +#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}} +#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}} + + +void error_loop(){ + while(1){ + digitalWrite(LED_PIN, !digitalRead(LED_PIN)); + delay(100); + } +} + +void timer_callback(rcl_timer_t * timer, int64_t last_call_time) +{ + RCLC_UNUSED(last_call_time); + if (timer != NULL) { + RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); + msg.data++; + } +} + +void setup() { + set_microros_wifi_transports("WIFI SSID", "WIFI PASS", "192.168.1.57", 8888); + + pinMode(LED_PIN, OUTPUT); + digitalWrite(LED_PIN, HIGH); + + delay(2000); + + allocator = rcl_get_default_allocator(); + + //create init_options + RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); + + // create node + RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_wifi_node", "", &support)); + + // create publisher + RCCHECK(rclc_publisher_init_best_effort( + &publisher, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), + "topic_name")); + + msg.data = 0; +} + +void loop() { + RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); + msg.data++; +} diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h index 618d672ad..d7c00605d 100755 --- a/src/micro_ros_arduino.h +++ b/src/micro_ros_arduino.h @@ -95,7 +95,7 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd #endif -#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) #if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) #include @@ -106,6 +106,8 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd #elif defined(ARDUINO_WIO_TERMINAL) #include #include +#elif defined(BOARD_WITH_ESP_AT) +#include #endif extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport); @@ -121,6 +123,15 @@ struct micro_ros_agent_locator { static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){ + #if defined(BOARD_WITH_ESP_AT) + ESP_AT_SERIAL_PORT.begin(ESP_AT_BAUDRATE); + while (!ESP_AT_SERIAL_PORT) { + } + WiFi.init(ESP_AT_SERIAL_PORT, ESP_AT_RESET_PIN); + while (WiFi.status() == WL_NO_MODULE) { + } + #endif + WiFi.begin(ssid, pass); while (WiFi.status() != WL_CONNECTED) { diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp index ace70ab51..bce8ff9a9 100755 --- a/src/wifi_transport.cpp +++ b/src/wifi_transport.cpp @@ -1,4 +1,4 @@ -#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) +#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) #include @@ -11,6 +11,8 @@ #elif defined(ARDUINO_WIO_TERMINAL) #include #include +#elif defined(BOARD_WITH_ESP_AT) +#include #endif #include