ESP32 C++ code for Controlling Spot

This project is based on robot_arm_esp32_rtos by Scream Lab.

This project provides ESP32 firmware for controlling a quadruped robot ("Spot") using C++ and ROS 2.

Environment

• OS: ubuntu24.04
• Build System:platformio
• Middleware: ros2 jazzy

Usage

Use PlatformIO to upload the code to ESP32.

Run the ROS 2 agent inside a Docker container:

# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial --dev [YOUR BOARD PORT] -v6

#[YOUR BOARD PORT] with the serial port of your ESP32 (e.g., `/dev/ttyUSB0`).

Resources

1. micro_ros_arduino
2. micro_ros_platformio
3. mirco ros api doc