daweim0/DUMb-Micro-Ros

DUMb-Micro-Ros (dummr)

Dummr is a simpler alternative to Micro-ROS and Rosserial. Dummr is designed for simplicity, quick prototyping, and to frustrate performance freaks.

Features:

• Dummr is easy to build

  • Dummr is a header only library
  • Dummr does not wrap the build system (like rosserial)
  • Dummr does not require message definitions to be compiled

• Dummr is simple to use

  • Look how simple this example is - https://github.com/daweim0/DUMb-micro-ros/blob/main/arduino_code/arduino_code.ino

• Dummr is debuggable

  • Data is sent over serial in JSON (human readable). Grab your logic analyzer and go to town!

Instructions:

1. Copy dummr.h and ArduinoJsonV6.h into wherever you keep header files.
2. Clone this entire repo into your catkin workspace (or copy and paste, git submodules can be a pain to use)
3. Connect and program your favorite arduino-compatible microcontroller. Be sure to call dummr_init() at the start of your program and dummr_check_for_msg() reguarly.
4. Do a catkin build and run rosrun dumb-micro-ros dumb_micro_ros.py _serial_port:="/dev/ttyS6" to start the dummr server (or put it in a rosalunch file, I don't care)

Notes:

• Dummr is not enterprise grade, it's for quick hacking
• Dummr is not for speed freaks (but it's probably fast enough for everyone else)
• only topic pub/sub is supported (no services or actions)

Licence(s):

There's code in this repo under BSD, MIT, and Creative Commons licences.