Hello,

I want ESP32 in my application where I have multiple robots and each robot has ESP32, sensors, and actuators. I want to send the sensors data of each robot to ROS2 main node that does the calculation and sends back the actuator commands to each robot.

I installed micro-ROS I followed this tutorial First micro-ROS Application on FreeRTOS. I built and flashed the firmware on ESP32 and tried the ping-pong example and everything is working fine.

Now, how can I continue from here? where do I write my own script that needs to be flashed into the ESP? usually I use Arduino IDE to write scripts for micro-controllers?

I appreciate any directions and help.

Thanks