Micro-ROS LED Subscriber on ESP32

Overview

This project demonstrates the implementation of a Micro-ROS subscriber on an ESP32. The ESP32 subscribes to the /led_control topic and controls an LED based on the received messages.

Features

• Implements a Micro-ROS subscriber to listen for LED control commands.
• Uses urosHandler for managing Micro-ROS nodes and subscriptions.
• Controls an LED using GPIO on the ESP32.
• Compatible with the std_msgs/msg/Int32 message type.

Repository Structure

├── main.cpp             # Entry point for the Micro-ROS application
├── sim_sub.cpp          # Implements the subscriber functionality
├── sim_sub.hpp          # Header file for the subscriber class
├── urosHandler          # External repository for handling Micro-ROS elements

Dependencies

• ESP-IDF (ESP32 Development Framework)
• Micro-ROS (ROS2 client for microcontrollers)

Installation & Setup

1. Clone this repository:

   git clone https://github.com/your-username/your-repository.git
   cd your-repository

2. Initialize submodules:

   git submodule update --init --recursive

3. Install ESP-IDF: Follow the official ESP-IDF installation guide.
4. Set up Micro-ROS:

   idf.py menuconfig

   Configure Micro-ROS settings if required.

Building and Flashing

1. Build the project:

   idf.py build

2. Flash the firmware to ESP32:

   idf.py flash

3. Monitor the serial output:

   idf.py monitor

Usage

• The ESP32 subscribes to the /led_control topic.
• Sending std_msgs/msg/Int32 messages with values:
  • 1 → Turns the LED ON
  • 0 → Turns the LED OFF
• Example command to publish a message from ROS 2:

  ros2 topic pub /led_control std_msgs/msg/Int32 '{"data": 1}'