micro-ROS Wrapper for ATOM Matrix

Architecture

Requirements

• ATOM Matrix
• Host PC
  • Ubuntu 20.04 LTS
  • ROS 2
  • See official page for supported versions; also available in Docker
• PlatformIO IDE for VSCode

Quick Start

Setup micro-ROS in the host PC

Install the micro-ROS build system on the host PC with ROS 2 installed:

# Create a workspace and download the micro-ROS tools
mkdir microros_ws
cd microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

# Update dependencies using rosdep
sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y

# Build micro-ROS tools and source them
colcon build
source install/local_setup.bash

To install the micro-ros Agent follow the steps below:

# Download micro-ROS agent packages
ros2 run micro_ros_setup create_agent_ws.sh

# Build step
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

Program the ATOM Matrix

Press the Upload button on PlatformIO to build and upload.

Running micro-ROS agent in the host PC

Run the agent program:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 --baud 115200

In another terminal, verify that the topic is output:

ros2 topic list

Publish Topic

Topic	Type
/imu/data	sensor_msgs/msg/Imu.msg