This repo contains the Micro-Ros Agent package. Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent. For farther information about Micro XRCE-DDA Agent click here This package is a part of the Micro-ROS poject stack. For more information about Micro-ROS project click here.

The node acts as a server between DDS Network and Micro-ROS nodes. It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes. The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes.

While the node is running, it attends any received request from the Micro-ROS nodes and will answers back with the result of a request each time a request is attended.

Package features

XML generation

During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles. This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content.

Agent-Client comunication mechanims

Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports:

UDP
SerialPort.

All available configurations are supported direcly by the Micro XRCE-DDS agent. For farther information how configure the agent click here.