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34 lines
1.5 KiB
Markdown
34 lines
1.5 KiB
Markdown
# Micro ROS Agent
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[](https://opensource.org/licenses/Apache-2.0)
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## Overview
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This repository contains the Micro-ROS Agent package.
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Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
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For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
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This package is a part of the Micro-ROS project stack.
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For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
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The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
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It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
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The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
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## Package features
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### XML generation
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During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
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These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
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This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
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### Agent-Client communication mechanism
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Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
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- UDP.
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- SerialPort.
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All available configurations are supported directly by the Micro XRCE-DDS agent.
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For further information on how to configure the agent click [here](TODO).
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