This directory is intended for PlatformIO Test Runner and project tests.

Unit Testing is a software testing method by which individual units of source code, sets of one or more MCU program modules together with associated control data, usage procedures, and operating procedures, are tested to determine whether they are fit for use. Unit testing finds problems early in the development cycle.

More information about PlatformIO Unit Testing:

• https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

dependencies

• ROS2 humble
• platformio (extension in VSCode)

usage

• build workspace (using platformio extension)
• connect esp32
• upload code to esp32

testing

# Source the ROS 2 installation
source /opt/ros/$ROS_DISTRO/setup.bash

# Create a workspace and download the 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

# Update dependencies using rosdep
sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y

# Install pip
sudo apt-get install python3-pip

# Build micro-ROS tools and source them
colcon build
source install/local_setup.bash

# Download micro-ROS-Agent packages
ros2 run micro_ros_setup create_agent_ws.sh
# Build step
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

for wifi setup

uncomment followed lines of code in file lib/ros_communication/ros_communication.cpp

IPAddress agent_ip(192, 168, 223, 64);
size_t agent_port = 8888;
 
char ssid[] = "ssid";
char psk[]= "psk";
 
set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);

change:

• agent_ip(192, 168, 223, 64) - set ip of device where will be launched micro_ros agent (for example your computer)
• agent_port - if required
• ssid and psk of your wifi

comment followed lines of code in file lib/ros_communication/ros_communication.cpp

// Serial.begin(115200);
// set_microros_serial_transports(Serial);

uncomment followed lines of code in file platformio.ini

board_microros_transport = wifi

comment followed lines of code in file platformio.ini

; board_microros_transport = serial

After build and upload - test it

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

for serial setup

uncomment followed lines of code in file lib/ros_communication/ros_communication.cpp

Serial.begin(115200);
set_microros_serial_transports(Serial);

comment followed lines of code in file lib/ros_communication/ros_communication.cpp

// IPAddress agent_ip(192, 168, 223, 64);
// size_t agent_port = 8888;
 
// char ssid[] = "ssid";
// char psk[]= "psk";
 
// set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);

uncomment followed lines of code in file platformio.ini

board_microros_transport = serial

comment followed lines of code in file platformio.ini

; board_microros_transport = wifi

After build and upload - test it

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -b 115200

driving test

ros2 run teleop_twist_keyboard teleop_twist_keyboard 
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/cmd_vel_nav