Sample microROS project for PlatformIO

Quick example usage of microROS for PlatformIO using a Raspberry Pi Pico.

Project could be easily adapted for any board listed on microROS library for PlatformIO Github repository.

This firmware does the following:

• Uses mbed threading and blinks a led
• Wait for microROS agent communication
• Start a ROS2 node named pio_uros_base_node
• Start a positive and a negative counter and publish info via topics /test1 and /test2
• Listen to topic /cmd_topic and updates positive and negative counter with incoming int32 data
• Positive and negative counter are updated on different threads so this emulates a real environment

Useful commands

Assuming you have ros2 humble (or newer) and microROS agent ready in your environment:

# start microros agent - fix for your rpico id
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/serial/by-id/$rpicoid baudrate=115200

# list all ros2 topics detected 
ros2 topic list

# listen specific topic data
ros2 topic echo /test1

# publish specific topic data
ros2 topic pub /cmd_topic std_msgs/Int32 "data: 1000"

Compile firmware with:

pio run -e pico

Upload firmware with:

pio run -e pico --target upload