IIO Sensors in ROS2 Workshop

A hands-on workshop for integrating Analog Devices Industrial I/O (IIO) sensors with ROS2. Build a complete ADC data acquisition pipeline using ADI evaluation hardware and the adi_iio ROS2 package.

Overview

This workshop teaches ROS2 concepts through practical exercises with real hardware. You'll work directly with ADI's IIO-based sensor packages to:

• Interact with ADI sensors through ROS2 topics and services
• Automate sensor bringup using launch files
• Create custom ROS2 packages for data processing

Hardware Requirements

Component	Description
EVAL-AD7124-8	8-channel, 24-bit sigma-delta ADC evaluation board
ADALM2000 (M2K)	Signal generator for test input signals
Raspberry Pi 5	Running Kuiper Linux with IIO drivers
PMD-RPI-INTZ	Interface board connecting AD7124 to RPi5

Software Requirements

• Windows: WSL2, Docker Desktop, VS Code with Dev Containers extension
• Linux: Docker, VS Code (optional)
• Scopy: For M2K signal generation (Windows/Linux native install)

Quick Start

1. Clone the Repository

git clone https://github.com/Adrian-Stanea/iio_ros2_workshop
cd iio_ros2_workshop

2. Open in VS Code Dev Container

1. Open the folder in VS Code
2. When prompted, click "Reopen in Container"
3. Wait for the container to build and initialize

Or use Docker Compose directly:

# Linux
xhost +local:docker
docker compose up -d
docker compose exec ros2 /ros_entrypoint.sh bash

# Cleanup
docker compose down

3. Build the Workspace

Inside the container:

cd /adc_workshop_ws
colcon build
source install/setup.bash

4. Verify Setup

# Check ROS2 environment
ros2 topic list

# Start the adi_iio_node (requires hardware connection)
ros2 run adi_iio adi_iio_node --ros-args -p uri:="ip:analog.local"

Workshop Modules

Module	Title	Description
00	Workshop Setup	Development environment and hardware verification
01	Interacting with ADI Sensors	ROS2 CLI interaction with adi_iio services and topics
02	Sensor Bringup	Launch files and automated configuration
03	Processing Package	Custom ROS2 package for data processing

Project Structure

iio_ros2_workshop/
├── .devcontainer/              # VS Code Dev Container config
├── modules/
│   ├── 00-setup/               # Environment setup guides
│   ├── 01-adi-sensors/         # CLI interaction exercises
│   ├── 02-sensor-bringup/      # Launch file package
│   │   └── ad7124_workshop/    # ROS2 package with launch files
│   └── 03-processing-package/  # Processing node exercises
├── compose.yaml                # Docker Compose configuration
└── README.md

Resources

Resource	Description
HANDBOOK.md	Main workshop guide for following the session step by step
solutions/checkpoint.md	Expected outputs and solutions

NOTE: The branch solutions holds tips and reference material for working through each module when you need extra guidance.