Running Ros2 on an ESP32

Virtualbox guest master setup

1. create a virtual machine
   1. Networking: Select bridged networking
2. install ubuntu 22.04 server edition
3. update and upgrade
4. remove firefox and snapd

5. install helpful tools

   bash sudo apt install -y net-tools

6. install ubuntu-desktop-minimal

   bash sudo apt install -y ubuntu-desktop-minimal

7. install vm guest additions prerequisites

   bash sudo apt install -y gcc make perl

8. install vm guest additions

   1. go to virtualbox menu and select "install guest additions"
   2. navigate to the cdrom and run autorun.sh

9. restart

10. Install ROS2

    bash sudo apt install -y software-properties-common sudo add-apt-repository universe sudo apt update && sudo apt install -y curl sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null sudo apt update && sudo apt upgrade -y sudo apt install -y ros-humble-desktop ros-dev-tools

11. install cyclone-dds

    bash sudo apt install -y ros-humble-rmw-cyclonedds-cpp

12. add configuration info to .bashrc:

    bash echo "source /opt/ros/humble/setup.bash" >> .bashrc echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> .bashrc

13. install ros-bridge server

    bash sudo apt install -y ros-humble-rosbridge-server

14. launch rosbridge

    bash ros2 launch rosbridge_server rosbridge_websocket_launch.xml

15. Publish something using rosbridge

16. echo it in ROS

    bash ros2 topic list ros2 topic echo /hadabot/log/info

External resources

• https://medium.com/@hadabot/use-ros2-an-esp32-running-micropython-and-the-web-browser-to-control-a-motor-driver-a88f9b1e7489