Borja OutereloandJulián Bermúdez Ortega
f377b7a727
* Addapt to Dashing Diademata rosidl generation. * Use new Micro XRCE-DDS agent library API. * main.cpp update (#22) * Update main.cpp according to the new version of Micro-XRCE-DDS-Agent. * Apply suggestions from code review Co-Authored-By: Borja Outerelo <borjaouterelo@gmail.com> Co-authored-by: Borja Outerelo <borjaouterelo@gmail.com> Co-authored-by: Julián Bermúdez Ortega <julianbermudez@eprosima.com>
Micro ROS Agent
Overview
This repository contains the Micro-ROS Agent package. Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent. For further information about Micro XRCE-DDS Agent click here This package is a part of the Micro-ROS project stack. For more information about Micro-ROS project click here.
The node acts as a server between DDS Network and Micro-ROS nodes inside MCU. It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network. The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
Package features
XML generation
During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles. These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content. This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
Agent-Client communication mechanism
Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
- UDP.
- SerialPort.
All available configurations are supported directly by the Micro XRCE-DDS agent. For further information on how to configure the agent click here.