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1 | | -<a href="http://www.eprosima.com"><img src="http://www.eprosima.com/images/logos/eprosima/logo.png" align="center" hspace="8" vspace="2" width="850" height="200" ></a> |
| 1 | +# Micro ROS Agent |
2 | 2 |
|
3 | | -# Overview |
| 3 | +## Overview |
4 | 4 |
|
5 | | -This repo contains the Micro-Ros Agent package. |
6 | | -Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent. |
7 | | -For farther information about Micro XRCE-DDA Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent) |
8 | | -This package is a part of the Micro-ROS poject stack. |
9 | | -For more information about Micro-ROS project click [here](). |
| 5 | +This repository contains the Micro-ROS Agent package. |
| 6 | +Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent. |
| 7 | +For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent) |
| 8 | +This package is a part of the Micro-ROS project stack. |
| 9 | +For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/). |
10 | 10 |
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11 | | -The node acts as a server between DDS Network and Micro-ROS nodes. |
12 | | -It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes. |
13 | | -The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes. |
| 11 | +The node acts as a server between DDS Network and Micro-ROS nodes inside MCU. |
| 12 | +It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network. |
| 13 | +The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes. |
14 | 14 |
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15 | | -While the node is running, it attends any received request from the Micro-ROS nodes and will answers back with the result of a request each time a request is attended. |
| 15 | +## Package features |
16 | 16 |
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| 17 | +### XML generation |
17 | 18 |
|
18 | | -# Package features |
| 19 | +During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles. |
| 20 | +These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content. |
| 21 | +This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer. |
19 | 22 |
|
20 | | -## XML generation |
| 23 | +### Agent-Client communication mechanism |
21 | 24 |
|
22 | | -During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles. |
23 | | -This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content. |
| 25 | +Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport: |
24 | 26 |
|
| 27 | +- UDP. |
| 28 | +- SerialPort. |
25 | 29 |
|
26 | | -## Agent-Client comunication mechanims |
27 | | - |
28 | | -Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports: |
29 | | -- UDP |
30 | | -- SerialPort. |
31 | | - |
32 | | - |
33 | | -All available configurations are supported direcly by the Micro XRCE-DDS agent. |
34 | | -For farther information how configure the agent click [here](). |
| 30 | +All available configurations are supported directly by the Micro XRCE-DDS agent. |
| 31 | +For further information on how to configure the agent click [here](TODO). |
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