Micro-ROS Implementation Guide

This guide explains how to set up and implement Micro-ROS using Docker for simplicity.

Prerequisites

• Ubuntu OS
• Docker installed
• ROS2 environment
• USB connection to your microcontroller

Installation Steps

1. Install ROS2 Key and Repository

# Add ROS2 GPG key
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
    -o /usr/share/keyrings/ros-archive-keyring.gpg

# Add ROS2 repository
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
    http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | \
    sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

2. Install ROS2 Desktop

sudo apt install ros-foxy-desktop python3-argcomplete
source /opt/ros/foxy/setup.bash

3. Pull Micro-ROS Docker Image

sudo docker pull microros/micro-ros-agent:$ROS_DISTRO

Usage

Start Micro-ROS Agent

Using Serial Connection

sudo docker run -it --rm \
    -v /dev:/dev \
    -v /dev/shm:/dev/shm \
    --privileged \
    --net=host \
    microros/micro-ros-agent:$ROS_DISTRO \
    serial --dev /dev/ttyUSB0 -v6

Using UDP Connection

sudo docker run -it --rm \
    -v /dev:/dev \
    -v /dev/shm:/dev/shm \
    --privileged \
    --net=host \
    microros/micro-ros-agent:$ROS_DISTRO \
    udp4 --port 8888 -v6

Monitor Topics

# List all available topics
ros2 topic list

# Monitor IMU data
ros2 topic echo /imu/data_raw

Troubleshooting

• Ensure your device is properly connected and recognized at /dev/ttyUSB0
• Check Docker permissions if you encounter access issues
• Verify that ROS2 environment is properly sourced

Contributing

Feel free to submit issues and enhancement requests!

License

[Your License Here]

---

For more information, visit the Micro-ROS Documentation.

Do these steps to implement micro ros We used docker for simplicity

sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial --dev /dev/ttyUSB0 -v6

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo “deb [arch=$(dpkg –print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main” | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install ros-foxy-desktop python3-argcomplete

source /opt/ros/foxy/setup.bash

sudo docker pull microros/micro-ros-agent:$ROS_DISTRO

sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial --dev /dev/ttyUSB0 -v6

sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6

ros2 topic list

ros2 topic echo /imu/data_raw