Question about lwIP stack on stm32 using bosch-ros-pkg/stm32
I have an STM discovery board I want to use for my project. I've been looking into using this stm32 package it has a lot of scripts using the lwip stack, but offers no real documentation about it.
I've followed the instructions and successfully flashed the discovery board , so if i was to setup a ROS node with TCP client/server communication, would it work? I tried but haven't been successful yet.
Asked by ManNeedsHelp on 2018-09-01 00:21:45 UTC
Answers
I'm not terribly familiar with this code, but from reading through the documentation, it looks like it's running a full ROS node on the STM32.
If that's true, all you really need to do is set up a ROS master and set the ROS_MASTER_URI on the STM32, and it should connect to the ROS master and start advertising topics.
I don't see anything obvious in the docs or tutorials about how to set the ROS_MASTER_URI, but it looks like it's hardcoded into the example here: https://github.com/bosch-ros-pkg/stm32/blob/df1d808b23535d7d610d1c457d98652802954fce/src/device_config.h#L38-L43 . I would change that to your computer's IP address, make sure you have a roscore running, and then plug it in and see if it connects. If all is working, you should be able to see the node when and its topics when you run rosnode list and rostopic list on your PC.
Asked by ahendrix on 2018-09-01 21:27:53 UTC
Comments
thankyou for your help! much appreciated :)
Asked by ManNeedsHelp on 2018-09-09 22:32:29 UTC
Comments
Some expectation management: you're in a pretty deep niche. The intersection between those who use these particular bits of software and those who frequent ROS Answers is probably rather small.
Asked by gvdhoorn on 2018-09-01 01:52:04 UTC