diff --git a/_data/docs.yml b/_data/docs.yml index dcf31168..71716ac8 100644 --- a/_data/docs.yml +++ b/_data/docs.yml @@ -69,6 +69,7 @@ - title: Advanced Tutorials with Zephyr docs: - tutorials/advanced/zephyr/zephyr_getting_started + - tutorials/advanced/zephyr/zephyr_emulator - title: Advanced Tutorials with Linux diff --git a/_docs/concepts/rtos/comparison/index.md b/_docs/concepts/rtos/comparison/index.md index a639495e..70ef766a 100644 --- a/_docs/concepts/rtos/comparison/index.md +++ b/_docs/concepts/rtos/comparison/index.md @@ -28,59 +28,59 @@ Key questions: Table: -| **OS** | [NuttX](http://nuttx.org/) | [FreeRTOS](https://sourceforge.net/projects/freertos/) | [Zephyr](https://www.zephyrproject.org/) | -|--------------------------------------------------------------|---------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------| -| **Feature** | | | | -| **Standardization** | | | | -| POSIX | yes | partial | partial | -| POSIX.1 1 | [yes](http://nuttx.org/) | [wrapper](https://interactive.freertos.org/hc/en-us/community/posts/210029046-POSIX-Wrapper-for-FreeRTOS) | partial | -| POSIX.1b 2 | yes | partial | partial | -| POSIX.1c 3 | yes | yes | partial | -| | | | | -| OSEK/VDX | no | no | no | -| **Maturity** | | | | -| First release | 2007 | 2014 | 2016 | -| Last release | 2019 | 2019 | 2019 | -| Update rate | about 3 months | irregular | 3 months | -| Community | open-source | open-source | Linux Foundation Collaboration Project, (Intel, Linaro (ARM), nordic, NXP, Synopsys) | -| | | | | -| **Supported Hardware** | | | | -| Olimex STM32-E407 (Cortex-M4) | yes | yes | yes, [explicitly](https://docs.zephyrproject.org/latest/reference/kernel/scheduling/index.html) | -| Bosch XDK 5 | not explicitly, but similar 6 | yes | yes, [explicitly](https://github.com/zephyrproject-rtos/zephyr/blob/master/ext/hal/README) | -| MPC57xx | no | no | no | -| **Scheduling** | | | | -| Priority-based | FIFO | yes | yes | -| Round-Robin 4 | yes | yes 6 | [co-operative](https://docs.zephyrproject.org/latest/reference/kernel/scheduling/index.html) | -| Sporadic Server | yes | no | no | -| RBS | no | ? | no | -| Semaphore /Mutex Management | yes (Priority Inheritance) | yes | yes | -| **IO** | | | | -| I2C | yes | vendor-specific | yes | -| SPI | yes | vendor-specific | yes | -| UART | hw-specific | vendor-specific | yes | -| USB | yes | vendor-specific | yes | -| CAN | yes | vendor-specific | yes | -| CAnopen | no | vendor-specific | yes | -| Modbus | yes | vendor-specific | ? | -| **Networking** 7 | | | | -| BLE-Stack | unclear | no | yes | -| 6LoWPAN | yes | no | yes | -| TLS | | yes | yes | -| Thread | | ? | ? | -| Ethernet | yes | no | yes | -| Wifi | yes | no | yes | -| NFC | unclear | no | yes | -| RFID | yes | no | yes | -| **Storage & Display** 7 | | | | -| File System | yes | ? | yes | -| Graphical User Interface | | ? | ? | -| **Memory Footprint** | | | | -| RAM | "small footprint" | 236 B scheduler + 64 B / task | "small footprint" | -| ROM | "small footprint" | 5 - 10 kB | "small footprint" | -| **Safety Certification** | | | | -| Software Development Process DO178B Level A / EUROCAE ED-12B | no | [SafeRTOS: DO178C (Aerspace) by Wittenstein](https://www.highintegritysystems.com/safertos/certification-and-standards/) | no | -| Functional Safety IEC-61508 | no | [SafeRTOS (SIL 3)](https://www.freertos.org/FreeRTOS-Plus/Safety_Critical_Certified/SafeRTOS.shtml) | soon | -| **License** | BSD | MIT and Commercial | Apache 2 | +| **OS** | [NuttX](http://nuttx.org/) | [FreeRTOS](https://sourceforge.net/projects/freertos/) | [Zephyr](https://www.zephyrproject.org/) | +| ------------------------------------------------------------ | ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------- | +| **Feature** | | | | +| **Standardization** | | | | +| POSIX | yes | partial | partial | +| POSIX.1 1 | [yes](http://nuttx.org/) | [wrapper](https://interactive.freertos.org/hc/en-us/community/posts/210029046-POSIX-Wrapper-for-FreeRTOS) | partial | +| POSIX.1b 2 | yes | partial | partial | +| POSIX.1c 3 | yes | yes | partial | +| | | | | +| OSEK/VDX | no | no | no | +| **Maturity** | | | ~~~~ | +| First release | 2007 | 2014 | 2016 | +| Last release | 2019 | 2019 | 2019 | +| Update rate | about 3 months | irregular | 3 months | +| Community | open-source | open-source | Linux Foundation Collaboration Project, (Intel, Linaro (ARM), nordic, NXP, Synopsys) | +| | | | | +| **Supported Hardware** | | | | +| Olimex STM32-E407 (Cortex-M4) | yes | yes | yes, [explicitly](https://docs.zephyrproject.org/latest/reference/kernel/scheduling/index.html) | +| Bosch XDK 5 | not explicitly, but similar 6 | yes | yes | +| MPC57xx | no | no | no | +| **Scheduling** | | | | +| Priority-based | FIFO | yes | yes | +| Round-Robin 4 | yes | yes 6 | [co-operative](https://docs.zephyrproject.org/latest/reference/kernel/scheduling/index.html) | +| Sporadic Server | yes | no | no | +| RBS | no | ? | no | +| Semaphore /Mutex Management | yes (Priority Inheritance) | yes | yes | +| **IO** | | | | +| I2C | yes | vendor-specific | yes | +| SPI | yes | vendor-specific | yes | +| UART | hw-specific | vendor-specific | yes | +| USB | yes | vendor-specific | yes | +| CAN | yes | vendor-specific | yes | +| CAnopen | no | vendor-specific | yes | +| Modbus | yes | vendor-specific | ? | +| **Networking** 7 | | | | +| BLE-Stack | unclear | no | yes | +| 6LoWPAN | yes | no | yes | +| TLS | | yes | yes | +| Thread | | ? | ? | +| Ethernet | yes | no | yes | +| Wifi | yes | no | yes | +| NFC | unclear | no | yes | +| RFID | yes | no | yes | +| **Storage & Display** 7 | | | | +| File System | yes | ? | yes | +| Graphical User Interface | | ? | ? | +| **Memory Footprint** | | | | +| RAM | "small footprint" | 236 B scheduler + 64 B / task | "small footprint" | +| ROM | "small footprint" | 5 - 10 kB | "small footprint" | +| **Safety Certification** | | | | +| Software Development Process DO178B Level A / EUROCAE ED-12B | no | [SafeRTOS: DO178C (Aerspace) by Wittenstein](https://www.highintegritysystems.com/safertos/certification-and-standards/) | no | +| Functional Safety IEC-61508 | no | [SafeRTOS (SIL 3)](https://www.freertos.org/FreeRTOS-Plus/Safety_Critical_Certified/SafeRTOS.shtml) | soon | +| **License** | BSD | MIT and Commercial | Apache 2 | 1 Processes, signals, fpe, segmentation, bus errors, timers, file and directory ops, pipes, c library, IO Port Interface diff --git a/_docs/tutorials/advanced/freertos/freertos_getting_started/index.md b/_docs/tutorials/advanced/freertos/freertos_getting_started/index.md index 89ebd40f..13f0ecf7 100644 --- a/_docs/tutorials/advanced/freertos/freertos_getting_started/index.md +++ b/_docs/tutorials/advanced/freertos/freertos_getting_started/index.md @@ -68,10 +68,11 @@ micro-ROS apps for Olimex + FreeRTOS are located at `firmware/freertos_apps/apps ```bash # Creating a new app -cd firmware/freertos_apps/apps +pushd firmware/freertos_apps/apps mkdir my_brand_new_app cd my_brand_new_app touch app.c app-colcon.meta +popd ``` 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: @@ -153,8 +154,9 @@ void appMain(void *argument) rcl_publisher_t pong_publisher = rcl_get_zero_initialized_publisher(); rcl_publisher_init(&pong_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong", &pong_publisher_ops); - // Create a reliable pong subscriber + // Create a best effort pong subscriber rcl_subscription_options_t pong_subscription_ops = rcl_subscription_get_default_options(); + pong_subscription_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; rcl_subscription_t pong_subscription = rcl_get_zero_initialized_subscription(); rcl_subscription_init(&pong_subscription, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong", &pong_subscription_ops); @@ -296,7 +298,8 @@ First of all, create and build a micro-ROS agent: ros2 run micro_ros_setup create_agent_ws.sh # Build micro-ROS-Agent packages, this may take a while. -colcon build +colcon build --metas src +source install/local_setup.bash ``` Then connect the Olimex development board to the computer using the usb to serial cable: diff --git a/_docs/tutorials/advanced/zephyr/zephyr_emulator/imgs/4.jpg b/_docs/tutorials/advanced/zephyr/zephyr_emulator/imgs/4.jpg new file mode 100644 index 00000000..6f3ad643 Binary files /dev/null and b/_docs/tutorials/advanced/zephyr/zephyr_emulator/imgs/4.jpg differ diff --git a/_docs/tutorials/advanced/zephyr/zephyr_emulator/index.md b/_docs/tutorials/advanced/zephyr/zephyr_emulator/index.md new file mode 100644 index 00000000..c9d6cb6f --- /dev/null +++ b/_docs/tutorials/advanced/zephyr/zephyr_emulator/index.md @@ -0,0 +1,404 @@ +--- +title: Zephyr Emulator +permalink: /docs/tutorials/advanced/zephyr/zephyr_emulator/ +--- + +This tutorial aims to create 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)). + +
+ +
+ +## Required hardware + +This tutorial requires no hardware beyond a Linux host computer. + +## Adding a new micro-ROS app + +First of all, make sure that you have a **ROS 2** installation. + +***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)* + +On the **ROS 2** installation open a command line and follow these steps: + +```bash +# Source the ROS 2 installation +source /opt/ros/$ROS_DISTRO/setup.bash + +# Create a workspace and download the micro-ROS tools +mkdir microros_ws +cd microros_ws +git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-build + +# Update dependencies using rosdep +sudo apt update && sydo apt install python3-colcon-metadata +rosdep update +rosdep install --from-path src --ignore-src -y + +# Build micro-ROS tools and source them +colcon build +source install/local_setup.bash +``` + +Let's install the last version of CMake: + +```bash +sudo apt install wget +wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add - +sudo apt install software-properties-common +sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' +sudo apt update +sudo apt install cmake +``` + +Now, let's create a firmware workspace that targets all the required code and tools for Zephyr emulator: + +```bash +# Create firmware step +ros2 run micro_ros_setup create_firmware_ws.sh zephyr host +``` + +Now you have all the required tools to compile micro-ROS and Zephyr. At this point, you must know that the micro-ROS build system is a four-step workflow: + + +1. **Create**: retrieves all the required packages for a specific RTOS and hardware platform. +2. **Configure**: configures the downloaded packages with options such as the micro-ROS application, the selected transport layer or the micro-ROS agent IP address (in network transports). +3. **Build**: generates a binary file ready for being loaded in the hardware. +4. **Flash**: load the micro-ROS software in the hardware. + +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. You have these two files [here](https://github.com/micro-ROS/zephyr_apps/tree/dashing/apps/host_ping_pong), for now, it is ok to copy them. + +```bash +# Creating a new app +pushd firmware/zephyr_apps/apps +mkdir my_brand_new_app +cd my_brand_new_app +mkdir src +touch src/app.c app-colcon.meta + +# Copying CMakeLists.txt and prj.conf +wget https://raw.githubusercontent.com/micro-ROS/zephyr_apps/dashing/apps/host_ping_pong/CMakeLists.txt +wget https://raw.githubusercontent.com/micro-ROS/zephyr_apps/dashing/apps/host_ping_pong/prj.conf + +popd +``` + +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 pings received from other nodes with a pong message: + +![pingpong](http://www.plantuml.com/plantuml/png/ZOwnIWGn48RxFCNFzSkoUG2vqce5jHEHi1dtWZkPa6GByNntavZY10yknMJu-ORlFwPiOjvvK-d3-M2YOR1uMKvHc93ZJafvoMML07d7h1NAE-DPWblg_na8vnwEx9OeZmzFOt1-BK7AzetJciPxCfRYVw1S0SbRLBEg1IpXPIvpUWLCmZpXIm6BS3addt7uQpu0ZQlxT1MK2r0g-7sfqbsbRrVfMrMwgbev3CDTlsqJGtJhATUmSMrMg5TKwaZUxfcttuMt7m00) + +To start creating this app, lets configure the RMW with the required static memory. You can read more about RMW and Micro XRCE-DDS Configuration [here](/docs/tutorials/core/microxrcedds_rmw_configuration/). The `app-colcon.meta` should look like: + +``` +{ + "names": { + "rmw_microxrcedds": { + "cmake-args": [ + "-DRMW_UXRCE_MAX_NODES=1", + "-DRMW_UXRCE_MAX_PUBLISHERS=2", + "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=2", + "-DRMW_UXRCE_MAX_SERVICES=0", + "-DRMW_UXRCE_MAX_CLIENTS=0", + "-DRMW_UXRCE_MAX_HISTORY=4", + ] + } + } +} +``` + +Meanwhile `src/app.c` should look like the following code: + +```c +#include +#include +#include +#include "rosidl_generator_c/string_functions.h" +#include + +#include + +#include +#include +#include + +#include + +#define STRING_BUFFER_LEN 100 + +// App main function +void main(void) +{ + //Init RCL options + rcl_init_options_t options = rcl_get_zero_initialized_init_options(); + rcl_init_options_init(&options, rcl_get_default_allocator()); + + // Init RCL context + rcl_context_t context = rcl_get_zero_initialized_context(); + rcl_init(0, NULL, &options, &context); + + // Create a node + rcl_node_options_t node_ops = rcl_node_get_default_options(); + rcl_node_t node = rcl_get_zero_initialized_node(); + rcl_node_init(&node, "pingpong_node", "", &context, &node_ops); + + // Create a reliable ping publisher + rcl_publisher_options_t ping_publisher_ops = rcl_publisher_get_default_options(); + rcl_publisher_t ping_publisher = rcl_get_zero_initialized_publisher(); + rcl_publisher_init(&ping_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/ping", &ping_publisher_ops); + + // Create a best effort pong publisher + rcl_publisher_options_t pong_publisher_ops = rcl_publisher_get_default_options(); + pong_publisher_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; + rcl_publisher_t pong_publisher = rcl_get_zero_initialized_publisher(); + rcl_publisher_init(&pong_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong", &pong_publisher_ops); + + // Create a best effort pong subscriber + rcl_subscription_options_t pong_subscription_ops = rcl_subscription_get_default_options(); + pong_subscription_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; + rcl_subscription_t pong_subscription = rcl_get_zero_initialized_subscription(); + rcl_subscription_init(&pong_subscription, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong", &pong_subscription_ops); + + // Create a best effort ping subscriber + rcl_subscription_options_t ping_subscription_ops = rcl_subscription_get_default_options(); + ping_subscription_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; + rcl_subscription_t ping_subscription = rcl_get_zero_initialized_subscription(); + rcl_subscription_init(&ping_subscription, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/ping", &ping_subscription_ops); + + // Create a wait set + rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); + rcl_wait_set_init(&wait_set, 2, 0, 0, 0, 0, 0, &context, rcl_get_default_allocator()); + + // Create and allocate the pingpong publication message + std_msgs__msg__Header msg; + char msg_buffer[STRING_BUFFER_LEN]; + msg.frame_id.data = msg_buffer; + msg.frame_id.capacity = STRING_BUFFER_LEN; + + // Create and allocate the pingpong subscription message + std_msgs__msg__Header rcv_msg; + char rcv_buffer[STRING_BUFFER_LEN]; + rcv_msg.frame_id.data = rcv_buffer; + rcv_msg.frame_id.capacity = STRING_BUFFER_LEN; + + // Set device id and sequence number; + int device_id = rand(); + int seq_no; + + int pong_count = 0; + struct timespec ts; + rcl_ret_t rc; + + uint32_t iterations = 0; + + do { + // Clear and set the waitset + rcl_wait_set_clear(&wait_set); + + size_t index_pong_subscription; + rcl_wait_set_add_subscription(&wait_set, &pong_subscription, &index_pong_subscription); + + size_t index_ping_subscription; + rcl_wait_set_add_subscription(&wait_set, &ping_subscription, &index_ping_subscription); + + // Run session for 100 ms + rcl_wait(&wait_set, RCL_MS_TO_NS(100)); + + // Check if some pong message is received + if (wait_set.subscriptions[index_pong_subscription]) { + rc = rcl_take(wait_set.subscriptions[index_pong_subscription], &rcv_msg, NULL, NULL); + if(rc == RCL_RET_OK && strcmp(msg.frame_id.data,rcv_msg.frame_id.data) == 0) { + pong_count++; + printf("Pong for seq %s (%d)\n", rcv_msg.frame_id.data, pong_count); + } + } + + // Check if some ping message is received and pong it + if (wait_set.subscriptions[index_ping_subscription]) { + rc = rcl_take(wait_set.subscriptions[index_ping_subscription], &rcv_msg, NULL, NULL); + + // Dont pong my own pings + if(rc == RCL_RET_OK && strcmp(msg.frame_id.data,rcv_msg.frame_id.data) != 0){ + printf("Ping received with seq %s. Answering.\n", rcv_msg.frame_id.data); + rcl_publish(&pong_publisher, (const void*)&rcv_msg, NULL); + } + } + + // Check if it is time to send a ping + if (iterations++ % 50 == 0) { + // Generate a new random sequence number + seq_no = rand(); + sprintf(msg.frame_id.data, "%d_%d", seq_no, device_id); + msg.frame_id.size = strlen(msg.frame_id.data); + + // Fill the message timestamp + clock_gettime(CLOCK_REALTIME, &ts); + msg.stamp.sec = ts.tv_sec; + msg.stamp.nanosec = ts.tv_nsec; + + // Reset the pong count and publish the ping message + pong_count = 0; + rcl_publish(&ping_publisher, (const void*)&msg, NULL); + printf("Ping send seq %s\n", msg.frame_id.data); + } + + usleep(10000); + } while (true); +} +``` + +Once the new 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: + +```bash +# Configure step +ros2 run micro_ros_setup configure_firmware.sh my_brand_new_app --transport udp --ip 127.0.0.1 --port 8888 +``` + +When the configuring step ends, just build the firmware: + +```bash +# Build step +ros2 run micro_ros_setup build_firmware.sh +``` + +Now you have a Zephyr + micro-ROS app ready to run on your own computer. + +## Running the micro-ROS app + +The micro-ROS app is ready to connect to a micro-ROS-Agent and start talking with the rest of the ROS 2 world. + +First of all, create and build a micro-ROS agent: + +```bash +# Download micro-ROS-Agent packages +ros2 run micro_ros_setup create_agent_ws.sh + +# Build micro-ROS-Agent packages, this may take a while. +colcon build +source install/local_setup.bash +``` + +Then run the agent: + +```bash +# Run a micro-ROS agent +ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 +``` + +And run the Zephyr app in another command line (remember sourcing ROS 2 and micro-ROS installation): + +```bash +source /opt/ros/$ROS_DISTRO/setup.bash +source microros_ws/install/local_setup.bash + +# Flash/run step +ros2 run micro_ros_setup flash_firmware.sh +``` + +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: + +```bash +source /opt/ros/$ROS_DISTRO/setup.bash + +# Subscribe to micro-ROS ping topic +ros2 topic echo /microROS/ping +``` + +You should see the topic messages published by the Ping Pong node every 5 seconds: + +``` +user@user:~$ ros2 topic echo /microROS/ping +stamp: + sec: 20 + nanosec: 867000000 +frame_id: '1344887256_1085377743' +--- +stamp: + sec: 25 + nanosec: 942000000 +frame_id: '730417256_1085377743' +--- +``` + +On another command line, let's subscribe to the pong topic + +```bash +source /opt/ros/$ROS_DISTRO/setup.bash + +# Subscribe to micro-ROS pong topic +ros2 topic echo /microROS/pong +``` + +At this point, we know that our app is publishing pings. Let's check if it also answers to someone else pings in a new command line: + +```bash +source /opt/ros/$ROS_DISTRO/setup.bash + +# Send a fake ping +ros2 topic pub --once /microROS/ping std_msgs/msg/Header '{frame_id: "fake_ping"}' +``` + +Now, we should see on the ping subscriber our fake ping along with the board pings: + +``` +user@user:~$ ros2 topic echo /microROS/ping +stamp: + sec: 0 + nanosec: 0 +frame_id: fake_ping +--- +stamp: + sec: 305 + nanosec: 973000000 +frame_id: '451230256_1085377743' +--- +stamp: + sec: 310 + nanosec: 957000000 +frame_id: '2084670932_1085377743' +--- +``` + +And in the pong subscriber, we should see the board's answer to our fake ping: + +``` +pgarrido@pgarrido:~$ ros2 topic echo /microROS/pong +stamp: + sec: 0 + nanosec: 0 +frame_id: fake_ping +--- +``` + +## Multiple Ping Pong nodes + +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: + +```bash +cd microros_ws + +# This is an alternative way of executing the Zephyr emulator +./firmware/build/zephyr/zephyr.exe +``` + +As soon as all micro-ROS node are up and connected to the micro-ROS agent you will see them interacting: + +``` +pgarrido@pgarrido$ ./firmware/build/zephyr/zephyr.exe +*** Booting Zephyr OS build zephyr-v2.2.0-492-gc73cb85b4ae9 *** +UDP mode => ip: 127.0.0.1 - port: 8888 +Ping send seq 1711620172_1742614911 <---- This micro-ROS node sends a ping with ping ID "1711620172" and node ID "1742614911" +Pong for seq 1711620172_1742614911 (1) <---- The first mate pongs my ping +Pong for seq 1711620172_1742614911 (2) <---- The second mate pongs my ping +Pong for seq 1711620172_1742614911 (3) <---- The third mate pongs my ping +Ping received with seq 1845948271_546591567. Answering. <---- A ping is received from a mate identified as "546591567", let's pong it. +Ping received with seq 232977719_1681483056. Answering. <---- A ping is received from a mate identified as "1681483056", let's pong it. +Ping received with seq 1134264528_1107823050. Answering. <---- A ping is received from a mate identified as "1107823050", let's pong it. +Ping send seq 324239260_1742614911 +Pong for seq 324239260_1742614911 (1) +Pong for seq 324239260_1742614911 (2) +Pong for seq 324239260_1742614911 (3) +Ping received with seq 1435780593_546591567. Answering. +Ping received with seq 2034268578_1681483056. Answering. +``` + +***TIP:** use the help flag to discover some Zephyr emulation features `./firmware/build/zephyr/zephyr.exe -h`* diff --git a/_docs/tutorials/core/programming_rcl_rclc/index.md b/_docs/tutorials/core/programming_rcl_rclc/index.md index 01bbd8f4..8a83e683 100644 --- a/_docs/tutorials/core/programming_rcl_rclc/index.md +++ b/_docs/tutorials/core/programming_rcl_rclc/index.md @@ -1,8 +1,6 @@ --- title: Programming with rcl and rclc permalink: /docs/tutorials/core/programming_rcl_rclc/ -redirect_from: /docs/tutorials/core/ -redirect_from: /docs/tutorials/ --- ## Programming client/service with rcl