Microros-stm32

This project aim to enable the comunication between ROS2 and STM32 boards using micro-ros. You can choose to use the code in the repository or to build it from scratch. The project was tested on a NUCLEO board but it should work on others board too

Setup using the repository

If you want to speedup the process you can directly use the code in this repository:

1. Clone this repository in your STM32CubeIDE workspace folder
2. Go to the Library Installation section

Setup from scratch

Library Installation Linux

This library installation section will follow what is written in the official micro-ROS for STM32 page, if you want go more in detail or want to install it using Windows follow this guide

1. Open this project folder and run git clone --branch humble https://github.com/micro-ROS/micro_ros_stm32cubemx_utils.git
2. Go to d and in d add ``
3. Add micro-ROS include directory. In Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths add ../micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include
4. Add the micro-ROS precompiled library. In Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries
   • Add ../micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros in Library search path (-L)
   • Add microros in Libraries(-l)
5. Add the following source code files to your project, dragging them to source folder:
   • extra_sources/microros_time.c
   • extra_sources/microros_allocators.c
   • extra_sources/custom_memory_manager.c
   • extra_sources/microros_transports/dma_transport.c or your transport selection
6. Build and run the project
7. Go to the Agent installation section

Agent installation

Micro-ROS require an Agent that act as a middleware between the STM32 board and the rest of the ROS infrastructure. First create a new folder that will be used as ROS2 workspace then follow these steps:

1. Clone the microros repository in your workspace

   git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
   rosdep update && rosdep install --from-path src --ignore-src -y
   colcon build
   source install/local_setup.bash

2. Build the agent (ingore some warning that could appear)

   ros2 run micro_ros_setup create_agent_ws.sh
   ros2 run micro_ros_setup build_agent.sh
   source install/local_setup.sh

3. Start the micro-ros-agent

   ros2 run micro_ros_agent micro_ros_agent serial -b 115200 --dev /dev/ttyACM0