How to use micro_ros on OpenCR

Using ros foxy and trying to get the data from OpenCR. I have followed the instructions in the documentation and installed the microros setup as well as microrosarduino. The microrospublisher code is uploaded and the microros_agent is also initiated successfully. It displays topic, publisher,data writer created.

But the topics are not listed or working when I use the ros2 topic list.

am I missing any steps? Kindly inform me what needs to be done.

The node is also not working - when I use ros2 node list , there is no running node

I have tried the debug method and I got something like this: [1628074355.331673] debug | SerialAgentLinux.cpp | sendmessage | [** <> **] | clientkey: 0x5CC77904, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 55 00 00 00 80

[1628074355.331928] debug | SerialAgentLinux.cpp | recvmessage | [==>> SER <<==] | clientkey: 0x5CC77904, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 54 00 54 00 80

[1628074355.332154] debug | SerialAgentLinux.cpp | sendmessage | [** <> **] | clientkey: 0x5CC77904, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 55 00 00 00 80

[1628074356.351128] debug | SerialAgentLinux.cpp | recvmessage | [==>> SER <<==] | clientkey: 0x5CC77904, len: 16, data: 0000: 81 80 55 00 07 01 08 00 00 5F 00 05 51 00 00 00

[1628074356.351352] debug | DataWriter.cpp | write | [** <> **] | client_key: 0x00000000, len: 4, data: 0000: 51 00 00 00

I tried the docker method and getting the same results.

Thanks

Asked by Sarwan on 2021-07-29 11:05:55 UTC

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Answers

Hello, a few questions:

Can you see the created node with ros2 node list?
How are you starting the Agent? If you are using ros2 run, increase the debug level and check that the board is publishing each second to discard communication issues: ros2 run micro_ros_agent micro_ros_agent serial --dev [YOUR BOARD PORT] -v6
You can also try with the dockerized agent: docker run -it --rm -v /dev:/dev --privileged --net=host -v /dev/shm:/dev/shm microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6
If you are already using the dockerized agent, make sure you got the latest version: docker pull microros/micro-ros-agent:foxy

Asked by AntonioCuadros on 2021-08-02 04:48:37 UTC

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Hi, Thanks for your reply. I cannot see the node list as well. I tried the debug option and I getting the result like the one listed below:

Asked by Sarwan on 2021-08-04 06:10:58 UTC

Communication looks fine, as the message is reaching ROS2 fastdds middleware: [1628074356.351352] debug | DataWriter.cpp | write | [* <<dds>> *] | client_key: 0x00000000, len: 4, data: 0000: 51 00 00 00

I just tested the example using the dockerized agent and it worked fine. Did you modify your ROS2 installation? Make sure you are using FastDDS with export RMW_IMPLEMENTATION=rmw_fastrtps_cpp on the same terminal you will call ros2 topic list.

And just to check, make sure are on ROS2 default domain id 0: export ROS_DOMAIN_ID=0.

Also and just to point it out, check that you are using the foxy branch of micro_ros_arduino

Asked by AntonioCuadros on 2021-08-05 06:26:54 UTC

Changing the ROS_DOMAIN_ID=0 made it work. Thanks a lot for the information

Asked by Sarwan on 2021-08-06 00:35:20 UTC