micro_ros_stm32_template

Boilerplate to create a project with:

STM32 + Ethernet + micro-ROS + FreeRTOS + Arduino + PlatformIO

Default config

STM32F407 + Ethernet (eg. STM32-E407 Olimex board) directly connected with Ethernet cable to a computer.

device	IP:PORT
Client (STM32F407 + Ethernet)	192.168.1.177
Agent (user's laptop)	192.168.1.176:8888

Please set a static IP address on your laptop, eg. with netplan:

network:
  version: 2
  renderer: networkd
  ethernets:
    enp7s0:
      dhcp4: no
      dhcp6: no
      addresses:           
        - 192.168.1.176/24

Flashing STM32

Click Use this template button, and clone your own copy of this repo.

Open the project with a Visual Studio Code with PlatformIO extension.

# Build project
$ pio run

# Upload firmware
$ pio run --target upload

# Clean build files
$ pio run --target clean

ST-Link

uncomment:

upload_protocol = stlink

and click PlatformIO: Upload button.

Serial

uncomment:

upload_protocol = serial

Set BOOT0 pin to HIGH and click RESET button, to enter the programming mode.

Click PlatformIO: Upload button.

Set BOOT0 pin to LOW and click RESET to start newly flashed firmware.

Running a demo

System architecture:

Now to test Micro-ROS with a default ROS 2 listener/talker example just execute:

$ cd demo
$ docker-compose up

$ docker ps
CONTAINER ID   IMAGE                               COMMAND                  CREATED          STATUS          PORTS                                       NAMES
f2c457f245bf   osrf/ros:galactic-desktop           "/ros_entrypoint.sh …"   48 minutes ago   Up 17 seconds                                               agent_listener_1
bdabd7761b4c   microros/micro-ros-agent:galactic   "/bin/sh /micro-ros_…"   51 minutes ago   Up 17 seconds   0.0.0.0:8888->8888/udp, :::8888->8888/udp   agent_talker_1

$ docker exec -it bda bash

root@f2c457f245bf:/# source /opt/ros/$ROS_DISTRO/setup.bash
root@f2c457f245bf:/# ros2 node list
/listener
/stm32_node
root@f2c457f245bf:/# ros2 node info /stm32_node 
/stm32_node
  Subscribers:

  Publishers:
    /chatter: std_msgs/msg/String
  Service Servers:

  Service Clients:

  Action Servers:

  Action Clients:

root@f2c457f245bf:/# ros2 topic echo /chatter 
data: 'Hello World: 6, sys_clk: 9000'
---
data: 'Hello World: 7, sys_clk: 9000'
---
data: 'Hello World: 8, sys_clk: 9000'
---
data: 'Hello World: 9, sys_clk: 9000'
---

Troubleshooting

Access rights to ST-LINK

Error: libusb_open() failed with LIBUSB_ERROR_ACCESS
Error: open failed
in procedure 'program'
** OpenOCD init failed **
shutdown command invoked

Solution:

sudo apt -y install stlink-tools
sudo systemctl restart udev

After that, unplug your stlink (or development board) for 5 seconds and plugin it in again. This will cause the new device permissions to take effect.

Now you can retry uploading the firmware from PlatformIO.

*Source