Overview
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
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.