Banana Pi BPI-Bit (ESP32) support ros (rosserial over WiFi using TCP)
thanks to Sachin Parekh (https://github.com/sachin0x18)
ref:
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readme: from https://github.com/sachin0x18/rosserial_esp32
rosserial_esp32 This package is based on rosserial to enable communication between ROS and ESP32 using ESP-IDF.
Supports rosserial communication over UART and WiFi
Generate ROS libraries Follow the steps below in order to generate and include ROS libraries //This will create a component in IDF_PATH and need to generate it only once//
$ cd path/to/catkin_ws/src/
$ git clone https:/www.github.com/sachin0x18/rosserial_esp32.git
$ rosrun rosserial_esp32 make_libraries.py $IDF_PATH/components/
After execution of above commands, all the necessary ROS files would have been generated in $IDF_PATH/components/rosserial_esp32/
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To use WiFi: https://github.com/sachin0x18/rosserial_esp32/tree/master/src/examples/chatter
Enable rosserial over WiFi idf.py menuconfig - Component config - rosserial - rosserial over WiFi using TCP
Enter WiFi and server details $ export ESPPORT=/dev/ttyUSB0 $ idf.py build flash On a new terminal
$ roscore On another new terminal
– UART
$ rosrun rosserial_python serial_node.py _baud:=115200 – WiFi
$ rosrun rosserial_python serial_node.py tcp On another new terminal
$ rostopic echo chatter
you can build esp-idf with vscode on ubuntu