humble	jazzy	kilted	rolling

micro-ROS component for ESP-IDF

This component has been tested in ESP-IDF v5.2, v5.3, v5.4, v5.5, and v6.0 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3, ESP32-C6, and ESP32-P4.

Dependencies

This component needs colcon and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:

. $IDF_PATH/export.sh
pip3 install catkin_pkg colcon-common-extensions lark

Middlewares available

This package support the usage of micro-ROS on top of two different middlewares:

• eProsima Micro XRCE-DDS: the default micro-ROS middleware.
• embeddedRTPS: an experimental implementation of a RTPS middleware compatible with ROS 2. (CURRENTLY NOT WORKING)

In order to select it, use idf.py menuconfig and go to micro-ROS Settings > micro-ROS middleware

Usage

From the ESP Component Registry

To align with the semantic versioning scheme of the ESP Component Registry, the ROS 2 distribution release year is used as the major version of the component:

Rolling is published as a prerelease of the next version, for example 27.0.0-rolling.20260806.

This branch corresponds to jazzy and publishes 24.x.y versions.

Add the component to your project with the IDF Component Manager:

idf.py add-dependency "micro-ros/micro_ros_espidf_component^24"

Or declare it in your main component’s idf_component.yml:

dependencies:
  micro-ros/micro_ros_espidf_component: "^24"

Then build your project as usual. The Component Manager downloads the matching 24.x.y release for Jazzy.

From this repository

You can also clone this repo into the components folder of your project:

cd your_project/components
git clone -b jazzy https://github.com/micro-ROS/micro_ros_espidf_component.git

If you encounter issues during the build process, ensure that you are running in a clean shell environment without the ROS 2 setup script sourced.

Example

In order to test a int32_publisher example:

. $IDF_PATH/export.sh
cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6|esp32p4]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
idf.py build
idf.py flash
idf.py monitor

To clean and rebuild all the micro-ROS library:

idf.py clean-microros

Is possible to use a micro-ROS Agent just with this docker command:

```bash

UDPv4 micro-ROS Agent

docker run -it –rm –net=host microros/micro-ros-agent:jazzy udp4 –port 8888 -v6

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Changelog for package micro_ros_espidf

5.0.1 (2024-06-03)

• Bump jazzy (#246)

• Add multithread to CI (#238)

  • Add multithread to CI
  • Fix multithread example

  * Override esp_macros fro micro-ROS build ---------

• Update IDF versions (#230)

  • Update IDF versions

  * Update nightly ---------

• Forcing to use make on Unix (#223) (#225) This also makes the process fail if pulling external code fails. (cherry picked from commit d2249e8f34223f16cdec2e2151a5f5537842014d) Co-authored-by: flabrosse <<ffl@aber.ac.uk>>

• Ignore lttngpy (#222)

• Fix empy dep (#213) (#214) (cherry picked from commit dd5108214f747780ac401ab50a2b6ae97f1480fc) Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>

• Patch CI (#208) (#210) Remove when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved (cherry picked from commit d0e63d9ab1d4b1b2777e68b715c5ea6d20ad68f4) Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>

• Remove micro-ROS fork (#204)

• Contributors: Antonio Cuadros, Pablo Garrido, mergify[bot]

5.0.0 (2023-06-12)

• Update rolling branches (#197)
• Replace repo with micro-ROS fork (#192)
• Fix rolling sources (#185)
• Ignore tracetools tests (#184)
• Update to new RCL fork (#182)
• Add IDF 5 support and deprecate versions 4.1 and 4.2 (#176)
• Add rosidl_core_generators (#158)
• Add example_interfaces package (backport #149) (#150)

4.0.0 (2022-05-25)

• Update banner (#143)
• Fixed build when PATH contains spaces (#140)
• Add logos (#137)
• Fix include paths (#136)
• Fix includes
• Fix service server example (#128) (#130)
• Fix include paths (#126)
• esp32s3: add esp32s3 support (#120) (#124)
• Fix atomics (#121)
• fix wrong ar command (#117) (#119)
• Add support for ESP-IDF v4.4 (#110)
• custom cmake target: idf.py clean-ros (#105)

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