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Is there any example of a ros2_control hwinterface successfully using Micro-ROS to implement the control/feedback mechanism against an MCU (physical hardware)?

asked 2022-05-03 15:13:28 -0500

updated 2022-05-03 15:19:42 -0500

I've been working on an integration between a hardware_interface::SystemInterface (or similar) with a Micro-ROS based MCU. On the host, I've got something built to relay the read()/write() invocations over to the MCU via ROS2 service calls, but have had a difficult time getting the MCU/MicroROS side of things setup, partly because I am not a firmware engineer.

So, an example application, particularly with the MCU-side implemented (with a functioning build system that ties together all the relevant MCU/RTOS toolchains, the microros build, the micro-ros agent build and any custom message types), would be tremendously helpful. The specific build system used, the MCU, the RTOS and the link-layer aren't important. I just want to see an example of the following modules being built and working together:

A ros2_control interface implementation  +  Custom msgs/srvs  +  MicroROS/DDS  +  RTOS  +  MCU Toolchain

I have seen some packages to help with the build, such as micro-ros-arduino, micro-ros-platformio, and micro-ros-espidf-component etc, but I'm looking for an actual working example (github sources) of a ros2_control based end-to-end implementation, not just documentation or links to toolkits.

Hope such an example exists somewhere :). If not, I'd love to contribute a PR at some point, but first I've got to get past the overwhelmingly steep learning curve!

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answered 2022-05-09 02:25:12 -0500

Pablogs gravatar image

Hello @alikureishy, I think that we do not have any complete examples of that kind.

If you need support for creating a PR with this example, do not hesitate to request support in the micro-ROS' Github repos.

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Asked: 2022-05-03 15:13:28 -0500

Seen: 403 times

Last updated: May 09 '22