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https://github.com/micro-ROS/micro-ROS-Agent.git
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34 lines
1.5 KiB
Markdown
34 lines
1.5 KiB
Markdown
<a href="http://www.eprosima.com"><img src="http://www.eprosima.com/images/logos/eprosima/logo.png" align="top" hspace="8" vspace="2" width="650" height="200" ></a>
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# Overview
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This repo contains the Micro-Ros Agent package.
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Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent.
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For farther information about Micro XRCE-DDA Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
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This package is a part of the Micro-ROS poject stack.
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For more information about Micro-ROS project click [here]().
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The node acts as a server between DDS Network and Micro-ROS nodes.
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It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes.
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The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes.
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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.
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# Package features
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## XML generation
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During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles.
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This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content.
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## Agent-Client comunication mechanims
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Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports:
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- UDP
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- SerialPort.
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All available configurations are supported direcly by the Micro XRCE-DDS agent.
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For farther information how configure the agent click [here](). |