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The ``D`` letter refers to the Arduino header pins of the board denoted ``CON4``.
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To ease the set-up process, The radio's pinout can be found at the following link: [PmodRF2 pinout](https://reference.digilentinc.com/reference/pmod/pmodrf2/start)
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**Important!**
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You can find a guide of how to setup the micro-ROS-bridge_RPI at its [repository](https://github.com/micro-ROS/micro-ROS-bridge_RPI/blob/new_bridge_tools/Readme.md).
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In the micro-ROS-bridge-RPI guide, you can find everything that you need to set-up this device base.
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The last step is to connect a mini-USB cable to the OTG2 USB port (The USB port next to the Ethernet port).
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# Configure the board
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## Set-up the software
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The micro-ROS build system will be use in order to create and flash the
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firmware.
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Instructions are available at the following link: [Micro-ROS build system](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 to use the branch ``dashing`` and the configuration profile ``uros_6lowpan``.
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### Manual patches
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Due to the build system being a work in progress, some of files have to be
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modified.
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- Open ``uros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/client.config`` and modify the value of ``CONFIG_UDP_TRANSPORT_MTU`` from ``512`` to ``450``.
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This is an appropiate MTU for 6LoWPAN communications on NuttX.
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Also the micro-XRCE-DDS needs to be to be change to the version 1.2.5 in the docker:
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```bash
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cd /uros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client
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git checkout v1.2.5
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```
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The configuration of the board is divided into two parts: hardware and software set-up.
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Once the modifications done, the binary can be compiled [as explained here](git checkout v1.2.5)
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## Hardware set-up
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#Configure the Linux machine
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First we are going to connect the PmodRF2 radio.
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The Linux machine is where is going to run the agent.
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In order to setup the wireless, some settings have to be set as follow:
sudo iwpan phy phy0 set channel 0 26 # phy can be phy0 or any other phyN where N [0,1,2,3,4,5,6,7,8,9,10,...]
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sudo ip link add link wpan0 name lowpan0 type lowpan
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sudo ip link set wpan0 up
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sudo ip link set lowpan0 up
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sudo ip link set docker0 down # Necessary to not reroute everything over the docker and use the lowpan0
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sudo ip neigh flush all
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sudo ip neigh add to {**IPV6 of the microROS node**} dev lowpan0 lladdr {**HW 802.15.4 of the micro-controller**} # repeat it for all the device
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```
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To ease the set-up process, you can use the [RPi pinout](https://pinout.xyz/#) and [PmodRF2 pinout](https://reference.digilentinc.com/reference/pmod/pmodrf2/start).
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It appears that depending on the PC configuration, the packets will not be able to be routed correctly from the docker to the lowpan0/wpan0 and vice-versa.
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In order to forward the packet to the correct interface the following commands need to be entered:
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The last step is to connect a mini-USB cable to the OTG2 USB port (this USB port next to the Ethernet port).
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```bash
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#Setting up the 6lowpan routing
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sudo ip -6 route add {**IPV6 of the microROS node**} dev lowpan0 proto kernel metric 50 pref medium
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```
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## Software set-up
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Once hte setup done, the docker may be run:
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```bash
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docker run -it --network host microros/micro-ros-agent:dashing udp6 --port 9999 -v6
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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 to use the branch `dashing` and the configuration profile `uros_6lowpan`.
- The value **inet6** is the IPv6 direction of the RPi over the 6LoWPAN interface. Copy it because is necessary for the subsequent steps.
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- Execute the micro-ROS 6LoWPAN application on the Olimex typing the next command:
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```bash
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uros_6lowpan <Agent_IP><Agent_Port><pub/sub>
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```
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where `Agent_IP` is the IPv6 copied previously, `Agent_PORT` is the port selected forthe Agent and `pub/sub` controls the application behavior:incase of `pub` it will act as publisher and as in case of `sub`, it will act as a subscriber.
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- Once you execute the app, ti will ask you if you want to configure the 6LoWPAN network.
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- This will return connection data, you should save the `inet_6_addr` and `HWaddr`.
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- Note: if you want to change the ID of the radio, you can do it on the `menuconfig` of NuttX on the example configuration.
Do you want to configure the 6lowpan network? (Y/N)
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ifdown wpan0...OK
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i8sak: resetting MAC layer
@@ -131,11 +154,15 @@ wpan0 Link encap:6LoWPAN HWaddr 00:be:ad:de:00:de:fa:00 at UP
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00000000 00000000 00000000 00000000
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Total Errors: 00000000
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```
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- After this step, the application on the Olimex board will be blocked waiting
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for a user to press any key and enter. The following output should appear.
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- After this step, the application on the Olimex board will be blocked waiting for a user input confirming that the Agent on the bridge is ready to receive data.
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```bash
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Sent: '0'
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Sent: '1'
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Sent: '2'
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...
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```
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- Go back to the bridge, now we are going to add a new 6LoWPAN device. Push `1 + enter`. (Note: this step is only necessary if you are attaching for the first time a new device).
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- First, introduce the IPv6 of the Olimex board (`inet6_addr`).
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- Introduce the hardware address of the Olimex board (HWaddr).
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- Now the device is registered and ready to establish communication.
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- The final step on the bridge is to execute the micro-ROS-Agent, to do so, push `2 + enter` and introduce the port to use.
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- The same procedure needs to be followed to run the subscriber but the last
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parameter of the ``uros_6lowpan``command should be ``sub``.
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