Amanita Robot Firmware based on micro-ROS component for ESP-IDF

This firmware eas tested with ESP-IDF v5.1.2 running on an ESP32 WROOM board. It might work with other ESP32 boards too.

The micro-ROS component for ESP-IDF is available on https://github.com/micro-ROS/micro_ros_espidf_component.

Dependencies

This component needs colcon and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:

. $IDF_PATH/export.sh
pip3 install catkin_pkg lark-parser empy colcon-common-extensions

Clone repo and submodules

You can clone this repo and open the generated folder in VSCode with DevContainer plugin installed. Build the container and reopen VSCode in remote mode. All the ESP-IDF commands work on the Docker container terminal.

git clone --recurse-submodules git@github.com:branilson/amanita-uros-espidf.git

How-to

In order to test the Amanita Robot Firmware, connect the board in a USB port and run the commands below:

Set target board [esp32|esp32s2|esp32s3|esp32c3]

idf.py set-target esp32

Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings

idf.py menuconfig

Build the firmware

idf.py build

Flash the microcontroller

idf.py flash

Serial monitoring

idf.py monitor

Clean and rebuild all the micro-ROS library

idf.py clean-microros

Full Clean and configuration reset

idf.py fullclean

It's possible to use a micro-ROS Agent just with this docker command:

Testing with ROS2

UDPv4 micro-ROS Agent

docker run -it --rm --net=host microros/micro-ros-agent:humble udp4 --port 8888 -v6

Send a Twist message using ROS2

docker run -it --rm osrf/ros:humble-desktop ros2 topic pub --once /amanita/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 2.8}}"

Build in the CLI with docker container

It's possible to build this example application using preconfigured docker container. Execute this line to build an example app using docker container:

docker build -t espidf-microros .devcontainer/

docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v  $(pwd):/workspaces/amanita-uros-espidf -v /dev:/dev --device-cgroup-rule='c *:* rmw' --workdir /workspaces/amanita-uros-espidf espidf-microros /bin/bash  -c "idf.py menuconfig build flash monitor"

Dockerfile for this container is provided in the ./.devcontainer directory and it is based on espressif/idf:v5.1.2, available in dockerhub.

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

License

This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

There are no known limitations.