ros2arduino esp32 serial communication

asked 2021-01-24 10:33:37 -0500

Hi Firstly I try work this communication repo https://github.com/ROBOTIS-GIT/ros2ar.... I am trying serial communication with esp32 however it is not publishing any thing at serial motinor.

I checked it from Serial Monitor I saw nothing was shared. after the first reset just a few lines of characters appear to be shared

If you have different repo or pack to communicate with esp32 can you share me?

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0018,len:4
load:0x3fff001c,len:1044
load:0x40078000,len:8896
load:0x40080400,len:5828
entry 0x400806ac
~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀�X�␀␀XXa␀��~␀�␀␀␀␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��~␀␀␘␀�␀␀␀␀␁␐␀XRCE␁␀␁␏���݁␀�␇��da�␀␀ce></␀pk␀t␀v::x␇�␌���:_
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answered 2021-01-25 00:20:59 -0500

Pablogs
443 ●1 ●54 ●12

Your ESP32 board is trying to communicate with the micro-ROS agent via serial port. These binary traces you are seeing are the "init session" message of the micro-ROS underlying middleware, have you tried to open a micro-ROS agent that listen in the this serial port?

ros2 run micro_ros_agent micro_ros_agent serial --dev [device]

Check out tutorials for more details and do not hesitate to open an issue if you find more problems.

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Thank you for answer. I downloaded this micro-xrce-dds-agent and I tried plugged esp32 and than run

    ieu@ieu-ABRA-A5-V15-8:~/Desktop/Micro-XRCE-DDS-Agent/build$ ./MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200
Press CTRL+C to exit
[1611559812.209639] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3

this line and than I pressed reset button of esp32.

ieu@ieu-ABRA-A5-V15-8:~/Desktop/Micro-XRCE-DDS-Agent/build$ ./MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200
Press CTRL+C to exit
[1611559909.050763] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1611559930.608405] info     | Root.cpp           | create_client            | create                 | client_key: 0xAABBCCDD, session_id: 0x81
[1611559930.608436] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x2864434397, address: 0
[1611559930.613271] inf

bekirbostanci ( 2021-01-25 01:33:00 -0500 )edit

./MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 115200

ros2 run micro_ros_agent micro_ros_agent serial --dev [device]

are these same or different

bekirbostanci ( 2021-01-25 01:33:51 -0500 )edit

Try to use the flag -v6 to get a verbose output and show me what does it say

Pablogs ( 2021-01-25 03:19:44 -0500 )edit

I added and pressed restart button but it is not showing any thing

ieu@ieu-ABRA-A5-V15-8:~/Desktop/Micro-XRCE-DDS-Agent/build$ ./MicroXRCEAgent  serial --dev /dev/ttyUSB0 -b 115200 -v6
Press CTRL+C to exit
[1611571144.557174] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1611571144.557344] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6

bekirbostanci ( 2021-01-25 04:40:23 -0500 )edit

Can you open an issue in our micro_ros_setup github repo?

Pablogs ( 2021-01-25 04:46:26 -0500 )edit

of course I will open an issue

bekirbostanci ( 2021-01-25 04:49:39 -0500 )edit

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