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LD_RUN_PATH=/usr/local/lib && make && sudo make install && sudo ldconfig
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./configure
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make
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# if the make command fails, type: autoreconf -f -i , and then rerun the make command.
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sudo make install
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sudo ldconfig
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popd
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```
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This sets the Ethernet and micro-ROS required configuration. However, in order to add our application, we're going to modify it:
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We'll now open an interactive NuttX menu config, which allows to modify the configuration of the RTOS, including adding a new application.
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```bash
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cd firmware/NuttX
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make menuconfig
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```
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This will open the NuttX menu config, which allows you to modify the configuration of the RTOS, including adding a new application.
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To add the `uros_pingpong` application, follow the steps listed below:
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* On the menu, follow the path: `Application Configuration ---> Examples`
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* A list of the available applications will appear. You need to find: `micro-ROS Ping-Pong` and press the space bar to add it.
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* Navigate to the bottom menu with the left and right arrows, and click on the `Exit` button.
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* When you're back to the `Application Configuration` menu, go to `micro-ROS ---> Transport (UDP transport)`.
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* A list of the available transports will appear. You need to go to `Serial transport` and press the space bar to add it. After that, you'll be automatically redirected to the previous menu.
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* Navigate to the bottom menu with the left and right arrows, and click on the `Save` button.
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* You will be asked if you want to save your new `.config` configuration, and you need to click `Ok`, and then `Exit`.
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* Finally, push three times the `Esc` key to close the menu.
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When the configuration process is over, go back to the `microros_ws`:
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```bash
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cd ../..
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```
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You can check the complete content of the `uros_pingpong` app
Make sure to match Olimex Rx with Cable Tx and vice-versa. Remember GND!*
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## Running the micro-ROS app
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At this point, you have both the client and the agent correctly installed.
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To start micro-ROS, you first need to run the agent:
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```bash
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cd uros_ws/firmware/NuttX
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make savedefconfig
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# Run a micro-ROS agent
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ros2 run micro_ros_agent micro_ros_agent serial --dev [device]
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```
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This will generate a file called ``defconfig`` inside of ``uros_ws/firmware/NuttX``. This file is a config profile with all the configuration required to run your specific application.
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***TIP:** you can use this command to find your serial device name: `ls /dev/serial/by-id/*`*
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Finally create a folder called ``uros_pingpong`` into ``uros_ws/firmware/NuttX/configs/olimex-stm32-e407`` and move the defconfig file to uros_pingpong folder so you can execute:
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Then, in order to launch the micro-ROS application, you need to install and open Minicom,
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a text-based serial port communications program. Open a new shell, and type:
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```bash
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# Configure step
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ros2 run micro_ros_setup configure_firmware.sh uros_pingpong
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sudo minicom -D [device] -b 115200
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```
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{% include first_application_common/old_common/section_05_building_flashing_and_running.md %}
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***TIP:** you can use this command to find your serial device name: `ls /dev/serial/by-id/*`. Select the one that starts with `usb-NuttX`.*
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From inside the Minicom application, press three times the `Enter` key. Once you enter the Minicom command line, type:
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| RTOS | micro-ROS Client to Agent |
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| :------: | ------------------------- |
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|**NuttX**|**Serial**|
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| FreeRTOS | Serial |
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| Zephyr | USB |
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```bash
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uros_pingpong
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```
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{% include first_application_common/old_common/section_06_agent.md %}
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{% include first_application_common/test_app_rtos.md %}
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This completes the First micro-ROS Application on NuttX tutorial. Do you want to [go back](../) and try a different RTOS, i.e. FreeRTOS or Zephyr?
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This completes the First micro-ROS Application on NuttX tutorial. Do you want to [go back](../) and try a different RTOS, i.e. FreeRTOS or Zephyr?
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