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include/agent
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src
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utils
 
 
CHANGELOG.rst
CHANGELOG.rst
 
 
CMakeLists.txt
CMakeLists.txt
 
 
README.md
README.md
 
 
package.xml
package.xml
 
 

README.md

Micro ROS Agent

Overview

This repository contains the Micro-ROS Agent package. Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent. For further information about Micro XRCE-DDS Agent click here This package is a part of the Micro-ROS project stack. For more information about Micro-ROS project click here.

The node acts as a server between DDS Network and Micro-ROS nodes inside MCU. It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network. The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.

Package features

XML generation

During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles. These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content. This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.

Agent-Client communication mechanism

Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:

  • UDP.
  • SerialPort.

All available configurations are supported directly by the Micro XRCE-DDS agent. For further information on how to configure the agent click here.