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Feature/foxy revision (#187)
* First micro-ROS app on Linux reviewed. * Reworking tutorials common sections. * Significant changes in core tutori+zephyr_emulator tutorials. * Changes reviewed. * First micro-ROS app tutorials migrated to foxy. * Comments addressed. * Update _docs/tutorials/advanced/zephyr_emulator/index.md Co-authored-by: Ralph Lange <ralph-lange@users.noreply.github.com> * Update _docs/tutorials/core/first_application_rtos/zephyr.md Co-authored-by: Ralph Lange <ralph-lange@users.noreply.github.com> Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: Ralph Lange <ralph-lange@users.noreply.github.com>
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‎_docs/tutorials/advanced/nuttx/6lowpan/index.md‎

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@@ -54,7 +54,7 @@ The last step is to connect a mini-USB cable to the OTG2 USB port (this USB port
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To create and flash the firmware, we are going to use the micro-ROS build system.
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You can find the instructions at the micro-ros-build's [README](https://github.com/micro-ROS/micro-ros-build/blob/dashing/micro_ros_setup/README.md).
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For this particular guide, it is necessary yo use the branch `dashing` and the configuration profile `uros_6lowpan`.
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For this particular guide, it is necessary to use the branch `dashing` and the configuration profile `uros_6lowpan`.
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Once you follow all the instructions in the build system and flash the board, everything is ready.
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‎_docs/tutorials/advanced/zephyr_emulator/index.md‎

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@@ -3,54 +3,51 @@ title: Zephyr Emulator
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permalink: /docs/tutorials/advanced/zephyr_emulator/
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---
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This tutorial aims at creating a new micro-ROS application on with **[Zephyr RTOS](https://www.zephyrproject.org/)** emulator (also known as [Native POSIX](https://docs.zephyrproject.org/latest/boards/posix/native_posix/doc/index.html)).
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## Target platform
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To follow this tutorial, it is assumed that the user is already familiar with the **[First micro-ROS Application on an RTOS](https://micro-ros.github.io/docs/tutorials/core/first_application_rtos/)** tutorial. The target app in this tutorial is the same ping pong app.
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Another requirement is that the user has a basic knowledge of micro-ROS and ROS 2.
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In this tutorial, you'll learn the use of micro-ROS with a **[Zephyr RTOS](https://www.zephyrproject.org/)**
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emulator (also known as [Native POSIX](https://docs.zephyrproject.org/latest/boards/posix/native_posix/doc/index.html))
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by testing a Ping Pong application.
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<div>
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<img width="300" style="padding-right: 25px;" src="imgs/4.jpg">
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</div>
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## Required hardware
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This tutorial requires no hardware beyond a Linux host computer.
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## Building a Zephyr emulator application
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Once the micro-ROS build system is ready, let's create a new Zephyr firmware for the host platform:
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{% include first_application_common/build_system.md %}
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```bash
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# Create firmware step
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# Create step
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ros2 run micro_ros_setup create_firmware_ws.sh zephyr host
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```
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micro-ROS apps for Zephyr emulator are located at `firmware/zephyr_apps/apps`. In order to create a new application, create a new folder containing two files: the app code (inside a `src` folder) and the RMW configuration. You will also need some other Zephyr related files: a `CMakeLists.txt` to define the building process and a `prj.conf` where Zephyr is configured. There is a sample proyect [here](https://github.com/micro-ROS/zephyr_apps/tree/dashing/apps/host_ping_pong), for now, it is ok to copy them.
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{% include first_application_common/zephyr_common.md %}
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```bash
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# Creating a new app
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pushd firmware/zephyr_apps/apps
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mkdir host_ping_pong
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cd host_ping_pong
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mkdir src
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touch src/app.c
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touch app-colcon.meta
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touch CMakeLists.txt
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touch prj.conf
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popd
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```
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The contents of the files can be found here: [app.c](https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/host_ping_pong/src/main.c), [app-colcon.meta](https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/host_ping_pong/app-colcon.meta), [CMakeLists.txt](https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/host_ping_pong/CMakeLists.txt) and [prj.conf](https://github.com/micro-ROS/zephyr_apps/blob/dashing/apps/host_ping_pong/prj.conf).
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{% include first_application_common/config.md %}
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Once the app folder is created, let's configure our new app with a UDP transport that looks for the agent on the port UDP/8888 at localhost:
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In this tutorial, we will use a UDP transport that looks for the agent on the port UDP/8888 at localhost, and focus on
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the out-of-the-box `ping_pong` application located at `firmware/zephyr_apps/apps/ping_pong`.
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To execute this application with the chosen transport, run the configuration command above by specifying the `[APP]`
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and `[OPTIONS]` parameters as below:
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```bash
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# Configure step
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ros2 run micro_ros_setup configure_firmware.sh host_ping_pong --transport udp --ip 127.0.0.1 --port 8888
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```
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You can check the complete content of the `ping_pong` app
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[here](https://github.com/micro-ROS/zephyr_apps/tree/foxy/apps/ping_pong).
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{% include first_application_common/pingpong_logic.md %}
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The contents of the Zephyr app specific files can be found here:
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[main.c](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/src/main.c),
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[app-colcon.meta](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/app-colcon.meta),
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[CMakeLists.txt](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/CMakeLists.txt)
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and [host-udp.conf](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/host-udp.conf).
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A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
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## Building the firmware
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When the configuring step ends, just build the firmware:
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```bash
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```
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Now you have a Zephyr + micro-ROS app ready to run on your own computer.
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Notice that in this case, the steps of flashing the firmware and running the micro-ROS app go together.
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## Running the micro-ROS app
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The micro-ROS app is ready to connect to a micro-ROS-Agent and start talking with the rest of the ROS 2 world.
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First of all, create and build a micro-ROS agent:
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{% include first_application_common/agent_creation.md %}
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```bash
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# Download micro-ROS-Agent packages
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ros2 run micro_ros_setup create_agent_ws.sh
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## Running the micro-ROS app
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# Build micro-ROS-Agent packages, this may take a while.
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colcon build
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source install/local_setup.bash
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```
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At this point, you have both the client and the agent correctly installed in your host machine.
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Then run the agent:
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To give micro-ROS access to the ROS 2 dataspace, run the agent:
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```bash
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# Run a micro-ROS agent
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ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
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```
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And run the Zephyr app in another command line (remember sourcing ROS 2 and micro-ROS installation):
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## Flashing the firmware
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Finally, in order to run the micro-ROS node inside of the Zephyr RTOS emulator,
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open a new command shell and execute the flash step by means of the flashing command:
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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source microros_ws/install/local_setup.bash
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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# Flash/run step
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ros2 run micro_ros_setup flash_firmware.sh
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```
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And finally, let's check that everything is working in another command line. We are going to listen to ping topic to check whether the Ping Pong node is publishing its own pings:
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Subscribe to micro-ROS ping topic
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ros2 topic echo /microROS/ping
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```
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You should see the topic messages published by the Ping Pong node every 5 seconds:
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```
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user@user:~$ ros2 topic echo /microROS/ping
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stamp:
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sec: 20
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nanosec: 867000000
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frame_id: '1344887256_1085377743'
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---
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stamp:
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sec: 25
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nanosec: 942000000
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frame_id: '730417256_1085377743'
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---
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```
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On another command line, let's subscribe to the pong topic
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Subscribe to micro-ROS pong topic
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ros2 topic echo /microROS/pong
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```
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At this point, we know that our app is publishing pings. Let's check if it also answers to someone else pings in a new command line:
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Send a fake ping
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ros2 topic pub --once /microROS/ping std_msgs/msg/Header '{frame_id: "fake_ping"}'
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```
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Now, we should see on the ping subscriber our fake ping along with the board pings:
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```
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user@user:~$ ros2 topic echo /microROS/ping
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stamp:
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sec: 0
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nanosec: 0
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frame_id: fake_ping
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---
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stamp:
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sec: 305
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nanosec: 973000000
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frame_id: '451230256_1085377743'
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---
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stamp:
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sec: 310
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nanosec: 957000000
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frame_id: '2084670932_1085377743'
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---
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```
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And in the pong subscriber, we should see the board's answer to our fake ping:
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```
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pgarrido@pgarrido:~$ ros2 topic echo /microROS/pong
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stamp:
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sec: 0
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nanosec: 0
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frame_id: fake_ping
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---
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```
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{% include first_application_common/test_app_host.md %}
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## Multiple Ping Pong nodes
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One of the advantages of having an emulator is that you don't need to buy a bunch of hardware in order to test some multi-node micro-ROS apps. So, with the same micro-ROS agent of the last section, let's open four different command lines and run the following on each:
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One of the advantages of having an emulator is that you don't need to buy a bunch of hardware in order to test some
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multi-node micro-ROS apps. So, with the same micro-ROS agent of the last section, let's open four different command
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lines and run the following on each:
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```bash
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As soon as all micro-ROS node are up and connected to the micro-ROS agent you will see them interacting:
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```
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pgarrido@pgarrido$ ./firmware/build/zephyr/zephyr.exe
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user@user:~$ ./firmware/build/zephyr/zephyr.exe
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*** Booting Zephyr OS build zephyr-v2.2.0-492-gc73cb85b4ae9 ***
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UDP mode => ip: 127.0.0.1 - port: 8888
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Ping send seq 1711620172_1742614911 <---- This micro-ROS node sends a ping with ping ID "1711620172" and node ID "1742614911"
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Pong for seq 1711620172_1742614911 (1) <---- The first mate pongs my ping
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Pong for seq 1711620172_1742614911 (2) <---- The second mate pongs my ping
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Pong for seq 1711620172_1742614911 (3) <---- The third mate pongs my ping
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Pong for seq 1711620172_1742614911 (1) <---- The first mate pongs my ping
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Pong for seq 1711620172_1742614911 (2) <---- The second mate pongs my ping
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Pong for seq 1711620172_1742614911 (3) <---- The third mate pongs my ping
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Ping received with seq 1845948271_546591567. Answering. <---- A ping is received from a mate identified as "546591567", let's pong it.
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Ping received with seq 232977719_1681483056. Answering. <---- A ping is received from a mate identified as "1681483056", let's pong it.
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Ping received with seq 1134264528_1107823050. Answering. <---- A ping is received from a mate identified as "1107823050", let's pong it.

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