How to Test micro-ROS on Linux (Docker)

See the official tutorial: https://micro.ros.org/docs/tutorials/core/first_application_linux/

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1. Start the Docker Container

docker run -it --net=host -v /dev:/dev --privileged ros:jazzy

2. Source the ROS 2 Installation

source /opt/ros/$ROS_DISTRO/setup.bash

3. Create a Workspace and Download micro-ROS Tools

mkdir microros_ws
cd microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

4. Update Dependencies Using rosdep

sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y

5. Install pip (if needed)

sudo apt-get install python3-pip

6. Build micro-ROS Tools and Source Them

colcon build
source install/local_setup.bash

7. Build and Start the micro-ROS Agent

ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 921600

8. (Optional) Enter the Container from Another Terminal

docker exec -it <container_name> bash
source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash

Note: Replace <container_name> with the actual name or ID of your running container.

9. Test micro-ROS Topics

ros2 topic list

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Example: Configuring the Communication Port

To change the UART node for your board (e.g., for ESP32-C3 SuperMini):

1. Navigate to: /modules/lib/micro_ros_zephyr_module/modules/libmicroros/microros_transports/serial
2. Edit the file and change:

   #define UART_NODE DT_NODELABEL(usart1)

   to, for example:

   #define UART_NODE DT_NODELABEL(usb_serial)

   for ESP32-C3 SuperMini, as seen in: /external/zephyr/boards/others/esp32c3_supermini/esp32c3_supermini.dts

Notes

• Make venv (i use zephyr ide extension vscode)
• Activate interpreter to venv in vscode
• pip install colcon-common-extensions
• pip install platformio