microROS-ESP32

Technologies

• MacOS 15.3 Intel Chip
• Docker Engine 27.5.1
• Docker Desktop 4.38.0
• ROS Jazzy
• ESP-IDF 5.2
• ESP32-S3 with 8MB PSRAM

References

• https://github.com/micro-ROS/micro_ros_espidf_component
• https://github.com/espressif/esp32-camera
• https://micro.ros.org/docs/tutorials/advanced/handling_type_memory/

MacOS Docker Limitation

Unable to mount /dev/tty.usb* devices even when running docker with --privileged argument. Espressif has a tool to remotely connect to a serial port.

Issue

• docker/for-mac#900

Solution

• Remote Serial Port

Packages

This will be populated with different packages as I go.

camera_publisher

Build

Terminal 1

docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v $(pwd):/microROS-ESP32 -v /dev:/dev --privileged --ipc host --workdir /microROS-ESP32 microros-esp32:latest /bin/bash -c "cd sources/camera_publisher; idf.py --port 'rfc2217://host.docker.internal:4000?ign_set_control' menuconfig build flash monitor"

Ensure PSRAM is enabled. The ESP32-S3 chip I am using has a 8 MB PSRAM. PSRAM Mode is Octal Mode PSRAM, and the clock RAM speed is 80MHz.

Ensure to set MicroROS Agent WIFI Adress and Port.

Terminal 2

docker run -it --rm --privileged --ipc host -p "8888:8888/udp" microros/micro-ros-agent:jazzy udp4 --port 8888 -v6

Terminal 3

esp_rfc2217_server.py -v -p 4000 /dev/tty.usbmodem14401

Output

I used rqt to monitor the image topic and visualize. Feel free to use any other ros tool to visualize the image topic.

gpio_interrupt_publisher

Publish to a ros topic on GPIO interrupt trigger.

TODO

reconnection_example

Reconnect to micro-ros-agent upon agent disconnect.

TODO

Extras

Display forwarding MacOS

Check out this guide.

X11 forwarding on macOS and docker