This is a repo for project in Robotics and AI 2025.

Readme contains instructions on how to interact with our setup.

1. You can interract with RPI5 by connecting it to your periferals.
2. (optional) Yet a better alternative is to use RealVNC viewer to access it remotely. Install it on your PC, connect RPI to your router or PC with a lan cable and use team1.local as an address.
3. Our RPI5 already has Docker installed on top of RaspberryPI OS and has a container named "ros2-microros-wsbridge". You can check the container list by running "docker ps" in your terminal.
4. As for now, we use ROS WebSocket bridge to send commands from our RPI. From a terminal, go inside a docker container with command "docker exec -it ros2-microros-wsbridge bash"
5. Inside docker, run "ros2 launch rosbridge_server rosbridge_websocket_launch.xml"

ALTERNATIVE: At step 4 just run: docker exec -it ros2-microros-wsbridge bash -c "source /opt/ros/jazzy/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml"

6. Now we have everything running, there is an example code in ws_server_test folder to test our websocket server. It needs some basic requirements, "pip install websockets asyncio keyboard". It listens to keyboard and sends the messages to ROS.
7. The ESP-32 we have already has the subscriber node that listens to messages and controls the robot. Use arduino ide to change the code and build new firmware for our ESP-32. For example, Wi-Fi credentials and Microros Agent IP-Address might be different.
8. (optional) If you know how to use Wokwi in VSCode, it is possible to emulate our firmware and test it right from the PC (tested on Windows). For that, in your Arduino IDE go to sketch and select Export Compiled Binary. After that, you can use Wokwi with the binary. Check the example in REPO.
9. Helper command to monitor microros: docker logs -f ros2-microros-wsbridge