MicroROS Template

This repository contains a sample code on creating multiple publishers and subscribers under multiple datatypes.

Current Libraries Used

The following libraries is used for this project:

• External Libraries:
  • Ethernet
  • Micro ROS for PlatformIO
• Custom Libraries (make sure its present under the lib folder.)
  • CustomTransport (handles the communication between the MicroROS agent and the ESP32)
  • MicroROSFunctions (allows you to create multiple publishers and subscribers)

Current available functions

• Publisher
  • .init() = initialises the Publisher
  • .publish() = Publish a value under a topic
  • .destroy() = destroy publisher
• Subscriber
  • .init() = initialises the Subscriber
  • .destroy() = destroy Subscriber
• Other
  • RCCHECK(fn) = checks for errors in the MicroROS functions
  • RCSOFTCHECK(fn) = soft checks for errors in the MicroROS functions
  • ARRAY_LEN(arr) = calculates the array length.

Current Message types availables

The following messages types can used for both publishers and subscribers functions:

• Boolean
• Int32 (Signed Integers)
• Double
• Int32 Arrays
• String (Publishers only)

Additional Notes

• Callback functions are needed for subscribers and must be created in the main.cpp. It then must be added when initialising the subscriber.
• If publishing an Int32 Array, Array length must be known (you use the ARRAY_LEN function)
• If multiple ESPs are used, make sure the IP address and the MAC address of the ESP is unique.