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‎_docs/tutorials/advanced/zephyr_emulator/index.md‎

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ros2 run micro_ros_setup create_firmware_ws.sh zephyr host
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```
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Once the command is executed, a folder named `firmware` must be present in your workspace.
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This step is in charge, among other things, of creating a set of micro-ROS apps for the specific platform you are
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addressing.
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In the case of Zephyr, these are located at `firmware/zephyr_apps/apps`.
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Each app is represented by a folder containing the following files:
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* `src/main.c`: This file contains the logic of the application.
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* `app-colcon.meta`: This file contains the micro-ROS app specific colcon configuration. Detailed info on how to
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configure the RMW via this file can be found
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[here](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/).
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* `CMakeLists.txt`: This is the CMake file containing the script to compile the application.
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* `prj.conf`: This is a Zephyr specific app configuration file.
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For the user to create its custom application, a folder `<my_app>` will need to be registered in this location,
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containing the four files just described.
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{% include first_application_common/zephyr_common.md %}
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{% include first_application_common/config.md %}
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ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
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```
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## Testing the micro-ROS app
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At this point, the micro-ROS app is built and flashed and the board is connected to a micro-ROS agent.
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We now want to check that everything is working.
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Open a new command line. We are going to listen to the `ping` topic
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with ROS 2 to check whether the micro-ROS Ping Pong node is correctly publishing the expected pings:
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```bash
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source /opt/ros/dashing/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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At this point, we know that our app is publishing pings.
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Let's check if it also answers to someone else's pings. If this works, it'll publish a pong.
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So, first of all, let's subscribe with ROS 2 to the `pong` topic
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(notice that initially we don't expect to receive any pong, since none has been sent yet):
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```bash
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source /opt/ros/dashing/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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And now, let's publish a `fake_ping` with ROS 2 from yet another command line:
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```bash
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source /opt/ros/dashing/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 this `fake_ping` in the `ping` subscriber console (the second that we opened),
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along with the micro-ROS 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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Also, we expect that, because of having received the `fake_ping`, the micro-ROS node will answer with a `pong`:
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```
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user@user:~$ ros2 run micro_ros_setup flash_firmware.sh
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Ping send seq 1706097268_1085377743
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Ping send seq 181171802_1085377743
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Ping send seq 1385567526_1085377743
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Ping send seq 926583793_1085377743
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Ping send seq 1831510138_1085377743
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Ping received with seq fake_ping. Answering.
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Ping send seq 1508705084_1085377743
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Ping send seq 1702133625_1085377743
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Ping send seq 176104820_1085377743
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```
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As a consequence, in the `pong` subscriber console (the third that we opened),
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we should see the micro-ROS app answer to our `fake_ping`:
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```
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user@user:~$ 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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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"

‎_docs/tutorials/core/first_application_linux/index.md‎

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## Target platform
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This tutorial teaches you how to try a first micro-ROS application on Linux, by testing a Ping Pong application.
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In this tutorial, you’ll learn the use of micro-ROS with Linux by testing a Ping Pong application.
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In the follow-up tutorial [*First micro-ROS application on an RTOS*](/docs/tutorials/core/first_application_rtos/),
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you'll learn how to build and bring this application on a microcontroller running the RTOS NuttX, FreeRTOS, or Zephyr.
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Finally in the tutorial [*Zephyr Emulator*](/docs/tutorials/advanced/zephyr_emulator/) you'll learn how to test
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Finally, in the tutorial [*Zephyr Emulator*](/docs/tutorials/advanced/zephyr_emulator/) you'll learn how to test
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a micro-ROS application on a Zephyr emulator.
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{% include first_application_common/build_system.md %}
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`src/uros/micro-ROS-demos/rcl`.
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Each app is represented by a folder containing the following files:
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* `app.c`: The former contains the logic of the application.
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* `main.c`: This file contains the logic of the application.
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* `CMakeLists.txt`: This is the CMake file containing the script to compile the application.
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For the user to create its custom application, a folder `<my_app>` will need to be registered in this location,
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{% include first_application_common/pingpong_logic.md %}
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The app logic of this demo is contained in
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[`app.c`](https://github.com/micro-ROS/micro-ROS-demos/blob/dashing/rcl/ping_pong/main.c).
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A thorough review of this file is illustrative of how to create a micro-ROS publisher or subscriber.
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The contents of the host app specific files can be found here:
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[main.c](https://github.com/micro-ROS/micro-ROS-demos/blob/dashing/rcl/ping_pong/main.c) and
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[CMakeLists.txt](https://github.com/micro-ROS/micro-ROS-demos/blob/dashing/rcl/ping_pong/CMakeLists.txt).
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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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ros2 run micro_ros_demos_rcl ping_pong
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```
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## Testing the micro-ROS app
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Now, we want to check that everything is working.
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Open a new command line. We are going to listen to the `ping` topic
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with ROS 2 to check whether the micro-ROS Ping Pong node is correctly publishing the expected pings:
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```bash
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source /opt/ros/dashing/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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At this point, we know that our Linux app is publishing pings.
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Let's check if it also answers to someone else's pings. If this works, it'll publish a pong.
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So, first of all, let's subscribe with ROS 2 to the `pong` topic
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(notice that initially we don't expect to receive any pong, since none has been sent yet):
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```bash
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source /opt/ros/dashing/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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And now, let's publish a `fake_ping` with ROS 2 from yet another command line:
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```bash
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source /opt/ros/dashing/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 this `fake_ping` in the `ping` subscriber console (the second that we opened),
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along with the micro-ROS 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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Also, we expect that, because of having received the `fake_ping`, the micro-ROS node will answer with a `pong`:
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```
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user@user:~$ ros2 run micro_ros_demos_rcl ping_pong
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Ping send seq 1706097268_1085377743
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Ping send seq 181171802_1085377743
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Ping send seq 1385567526_1085377743
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Ping send seq 926583793_1085377743
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Ping send seq 1831510138_1085377743
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Ping received with seq fake_ping. Answering.
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Ping send seq 1508705084_1085377743
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Ping send seq 1702133625_1085377743
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Ping send seq 176104820_1085377743
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```
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As a consequence, in the `pong` subscriber console (the third that we opened),
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we should see the micro-ROS app answer to our `fake_ping`:
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```
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user@user:~$ 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 Linux micro-ROS app is that you don't need to buy a bunch of hardware in order to
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One of the advantages of having a Linux micro-ROS app is that you don't need to buy a bunch of hardware in order to
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test some multi-node micro-ROS apps.
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So, with the same micro-ROS agent of the last section, let's open four different command lines and run the following on
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each:
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```bash
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cd microros_ws
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source /opt/ros/$ROS_DISTRO/setup.bash
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source /opt/ros/dashing/setup.bash
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source install/local_setup.bash
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ros2 run micro_ros_demos_rcl ping_pong
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As soon as all micro-ROS nodes are up and connected to the micro-ROS agent you will see them interacting:
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```
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user@user$ ros2 run micro_ros_demos_rcl my_brand_new_app
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user@user:~$ ros2 run micro_ros_demos_rcl ping_pong
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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

‎_docs/tutorials/core/first_application_rtos/freertos.md‎

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---
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title: First micro-ROS Application on Zephyr
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permalink: /docs/tutorials/core/first_application_rtos/zephyr/
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title: First micro-ROS Application on FreeRTOS
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permalink: /docs/tutorials/core/first_application_rtos/freertos/
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redirect_from:
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- /docs/tutorials/advanced/zephyr/zephyr_getting_started/
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- /docs/tutorials/advanced/freertos/freertos_getting_started/
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---
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## Target platform
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In this tutorial, you'll learn the use of micro-ROS with FreeRTOS by testing a Ping Pong application.
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{% include first_application_common/target_hardware.md %}
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* [USB-to-Serial Cable Female](https://www.olimex.com/Products/Components/Cables/USB-Serial-Cable/USB-SERIAL-F/)
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{% include first_application_common/run_app.md %}
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{% include first_application_common/test_app.md %}
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{% include first_application_common/test_app_rtos.md %}

‎_docs/tutorials/core/first_application_rtos/nuttx.md‎

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- /docs/tutorials/advanced/nuttx/nuttx_getting_started/
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---
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{% include first_application_rtos_common/section_01_intro.md %}
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{% include first_application_common/old_common/section_01_intro.md %}
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In this tutorial, you'll learn the use of micro-ROS with NuttX.
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{% include first_application_rtos_common/section_02_target_hardware_and_workspace.md %}
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{% include first_application_common/old_common/section_02_target_hardware_and_workspace.md %}
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```bash
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# Create step
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ros2 run micro_ros_setup create_firmware_ws.sh nuttx olimex-stm32-e407
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```
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{% include first_application_rtos_common/section_03_configuring_firmware.md %}
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{% include first_application_common/old_common/section_03_configuring_firmware.md %}
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| RTOS | `[APP]` | `[OPTIONS]` | Configured app |
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| :------: | --------------- | ---------------------------- | :------------------------------------------------------------------------------: |
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| **NuttX** | **`uros_pingpong`** | | [**Source**](https://github.com/micro-ROS/apps/tree/feature/pingpong_app/examples/uros_pingpong) |
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| FreeRTOS | `ping_pong` | `--transport serial --dev 3` | [Source](https://github.com/micro-ROS/freertos_apps/tree/dashing/apps/ping_pong) |
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| Zephyr | `ping_pong` | `--transport serial-usb` | [Source](https://github.com/micro-ROS/zephyr_apps/tree/dashing/apps/ping_pong) |
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{% include first_application_rtos_common/section_04_demo_description.md %}
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{% include first_application_common/old_common/section_04_demo_description.md %}
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Create a new app:
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git clone https://bitbucket.org/nuttx/tools.git firmware/tools
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pushd firmware/tools/kconfig-frontends
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./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf
58+
./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf
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LD_RUN_PATH=/usr/local/lib && make && sudo make install && sudo ldconfig
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popd
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```
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ros2 run micro_ros_setup configure_firmware.sh uros_pingpong
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```
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{% include first_application_rtos_common/section_05_building_flashing_and_running.md %}
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{% include first_application_common/old_common/section_05_building_flashing_and_running.md %}
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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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{% include first_application_rtos_common/section_06_agent.md %}
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{% include first_application_common/old_common/section_06_agent.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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