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Merged
merged 13 commits into from
Jun 28, 2023
Merged

WiFiEspAT Support #1425

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44dfe1a
Extend set_microros_wifi_transport().
maehara-keisuke Jun 18, 2023
69fdbf4
Enable each function if BOARD_WITH_ESP_AT is defined.
maehara-keisuke Jun 18, 2023
c7db83c
Enable to compile publisher_wifi example if USE_WIFI_ESP_AT is defined.
maehara-keisuke Jun 18, 2023
f4e3219
Follow CI.
maehara-keisuke Jun 18, 2023
6549919
Markdown table formattings.
maehara-keisuke Jun 18, 2023
830207a
Add section for ESP-AT module.
maehara-keisuke Jun 18, 2023
24d6f2e
Revert micro-ros_publisher_wifi.
maehara-keisuke Jun 25, 2023
805461e
Minor: fix typo.
maehara-keisuke Jun 25, 2023
7e12745
Add new example for ESP-AT.
maehara-keisuke Jun 25, 2023
1555076
Follow CI.
maehara-keisuke Jun 25, 2023
db21e6c
Simplify description about ESP-AT supported boards.
maehara-keisuke Jun 25, 2023
5cb38ec
Merge branch 'humble' into feature/add-wifiespat-support
maehara-keisuke Jun 25, 2023
f962cfb
Remove unnecessary build test.
maehara-keisuke Jun 28, 2023
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19 changes: 19 additions & 0 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -81,3 +82,21 @@ 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
# BUILDING micro-ros_publisher-wifi for WiFi non-native board with ESP-AT(expected to succeed)
arduino-cli compile --build-property "build.extra_flags=-DUSE_WIFI_ESP_AT -DESP_AT_SERIAL_PORT=Serial1 -DESP_AT_BAUDRATE=115200 -DESP_AT_RESET_PIN=-1" --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
# BUILDING micro-ros_publisher-wifi for WiFi native board with ESP-AT(expected to fail)
return_code=0
arduino-cli compile --build-property "build.extra_flags=-DUSE_WIFI_ESP_AT -DESP_AT_SERIAL_PORT=Serial1 -DESP_AT_BAUDRATE=115200 -DESP_AT_RESET_PIN=-1" --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v || return_code=$?
if [ $return_code -eq 0 ]
then
echo Build succeeded as not expected!
exit 1
fi
# BUILDING micro-ros_publisher-wifi for WiFi non-native board without definition "USE_WIFI_ESP_AT'"(expected to fail)
return_code=0
arduino-cli compile --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v || return_code=$?
if [ $return_code -eq 0 ]
then
echo Build succeeded as not expected!
exit 1
fi
53 changes: 35 additions & 18 deletions README.md
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Expand Up @@ -24,30 +24,47 @@ 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` |

You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).

### Community confirmed External WiFi module

At present, few boards have native WiFi interface and can use WiFi UDP Transport.

Meanwhile, many WiFi non-native boards have secondary UART channel(in most cases, assigned as `Serial1`).
And we may use WiFi UDP Transport by connecting ESP-AT External WiFi module to this channel.

See [ESP-AT Resources](https://www.espressif.com/en/products/sdks/esp-at/overview) for more details about ESP-AT External WiFi module. And try `examples/micro-ros_publisher_wifi`

Community confirmed combinations of board and ESP-AT module are:

| Board | Board Definition | ESP-AT Module | ESP-AT Firmware version | Note | Confirmed By |
| -------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ |
| [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/) | [Arduino Mbed OS RP2040 Boards](https://github.com/arduino/ArduinoCore-mbed) | [ESP32C3-WROOM-02](https://www.espressif.com/sites/default/files/documentation/esp32-c3-wroom-02_datasheet_en.pdf) | [v2.4.2.0](https://dl.espressif.com/esp-at/firmwares/esp32c3/ESP32-C3-MINI-1-AT-V2.4.2.0.zip) | | [@maehara-keisuke](https://github.com/maehara-keisuke) |
| [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/) | [Seeed SAMD Boards](https://github.com/Seeed-Studio/ArduinoCore-samd) | [ESP32C3-WROOM-02](https://www.espressif.com/sites/default/files/documentation/esp32-c3-wroom-02_datasheet_en.pdf) | [v2.4.2.0](https://dl.espressif.com/esp-at/firmwares/esp32c3/ESP32-C3-MINI-1-AT-V2.4.2.0.zip) | | [@maehara-keisuke](https://github.com/maehara-keisuke) |
| [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/) | [Arduino Mbed OS RP2040 Boards](https://github.com/arduino/ArduinoCore-mbed) | [ESP32C3-WROOM-02](https://www.espressif.com/sites/default/files/documentation/esp32-c3-wroom-02_datasheet_en.pdf) | [v2.4.2.0](https://dl.espressif.com/esp-at/firmwares/esp32c3/ESP32-C3-MINI-1-AT-V2.4.2.0.zip) | Follow chip pinout to determine right pin function. Silk printing on board is for [other framework](https://github.com/earlephilhower/arduino-pico). | [@maehara-keisuke](https://github.com/maehara-keisuke) |

## How to use the precompiled library

### Arduino IDE
Expand Down
31 changes: 29 additions & 2 deletions examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
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@@ -1,5 +1,24 @@
// If you use "ESP-AT External WiFi module"(hereinafter called "ESP-AT") with your board,
// Install "WiFiEspAT" from Library Manager and uncomment definition below.
// See https://www.espressif.com/en/products/sdks/esp-at/overview for more details about ESP-AT.
// #define USE_WIFI_ESP_AT

#if defined(USE_WIFI_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)
#endif

#include <micro_ros_arduino.h>

#if defined(BOARD_WITH_ESP_AT)
#include <wifi_transport.cpp>
#endif

#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
Expand All @@ -8,8 +27,16 @@

#include <std_msgs/msg/int32.h>

#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
#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) && !defined(BOARD_WITH_ESP_AT)
#error This example is only available for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal, and other boards with ESP-AT.
#endif

#if defined(BOARD_HAS_NATIVE_WIFI) && defined(BOARD_WITH_ESP_AT)
#error USE_WIFI_ESP_AT is not supported on boards that have native WiFi.
#endif

rcl_publisher_t publisher;
Expand Down
13 changes: 12 additions & 1 deletion src/micro_ros_arduino.h
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Expand Up @@ -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 <WiFi.h>
Expand All @@ -106,6 +106,8 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
#elif defined(ARDUINO_WIO_TERMINAL)
#include <rpcWiFi.h>
#include <WiFiUdp.h>
#elif defined(BOARD_WITH_ESP_AT)
#include <WiFiEspAT.h>
#endif

extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
Expand All @@ -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) {
Expand Down
4 changes: 3 additions & 1 deletion src/wifi_transport.cpp
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@@ -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 <Arduino.h>


Expand All @@ -11,6 +11,8 @@
#elif defined(ARDUINO_WIO_TERMINAL)
#include <rpcWiFi.h>
#include <WiFiUdp.h>
#elif defined(BOARD_WITH_ESP_AT)
#include <WiFiEspAT.h>
#endif

#include <micro_ros_arduino.h>
Expand Down