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Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update _docs/tutorials/advanced/zephyr/zephyr_emulator/index.md Co-Authored-By: Julián Bermúdez Ortega <julianbermudez@eprosima.com> Update pushd popd
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  • _docs/tutorials/advanced

‎_docs/tutorials/advanced/freertos/freertos_getting_started/index.md‎

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@@ -68,11 +68,11 @@ micro-ROS apps for Olimex + FreeRTOS are located at `firmware/freertos_apps/apps
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```bash
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# Creating a new app
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cd firmware/freertos_apps/apps
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pushd firmware/freertos_apps/apps
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mkdir my_brand_new_app
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cd my_brand_new_app
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touch app.c app-colcon.meta
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cd ../../../
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popd
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```
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For this example we are going to create a ping pong app where a node sends a ping package with a unique identifier using a publisher and the same package is received by a pong subscriber. The node will also answer to:

‎_docs/tutorials/advanced/zephyr/zephyr_emulator/index.md‎

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@@ -15,7 +15,7 @@ This tutorial requires no hardware beyond a Linux host computer.
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## Adding a new micro-ROS app
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First of all make sure that you have a **ROS 2** installation.
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First of all, make sure that you have a **ROS 2** installation.
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***TIP:** if you are familiar with Docker containers, this image may be useful: [ros:dashing](https://hub.docker.com/layers/ros/library/ros/dashing/images/sha256-b796c14ea663537129897769aa6c715a851ca08dffd4875ef2ecaa31a4dbd431?context=explore)*
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@@ -31,6 +31,7 @@ cd microros_ws
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git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-build
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# Update dependencies using rosdep
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apt update && apt install python3-colcon-metadata
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rosdep update
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rosdep install --from-path src --ignore-src -y
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source install/local_setup.bash
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```
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Let's install last version of CMake:
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Let's install the last version of CMake:
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```bash
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apt install wget
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wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -
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sudo apt install software-properties-common
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sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
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sudo apt update
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sudo apt install cmake -y
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sudo apt install cmake
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```
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Now, let's create a firmware workspace that targets all the required code and tools for Zephyr emulator:
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ros2 run micro_ros_setup create_agent_ws.sh
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# Build micro-ROS-Agent packages, this may take a while.
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colcon build --metas src
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colcon build
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source install/local_setup.bash
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```
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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source install/local_setup.bash
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source microros_ws/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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You should see the topic messages published by the Ping Pong node every 5 seconds:
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```
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pgarrido@pgarrido:~$ ros2 topic echo /microROS/ping
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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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Now, we should see on the ping subscriber our fake ping along with the board pings:
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```
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pgarrido@pgarrido:~$ ros2 topic echo /microROS/ping
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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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## 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 thw 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 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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```bash
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cd microros_ws
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Ping received with seq 2034268578_1681483056. Answering.
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```
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***TIP:** use the help flag to discover some Zephyr emulation features `./firmware/build/zephyr/zephyr.exe -h`*
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***TIP:** use the help flag to discover some Zephyr emulation features `./firmware/build/zephyr/zephyr.exe -h`*

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