How can I add a existing ROS2 package to my esp project and use it?

[zzMiao123]

• Hardware description: esp32
• RTOS: FreeRTOS
• Installation type: micro_ros_setup, robot_state_publisher
• Version or commit hash: foxy

Steps to reproduce the issue

Expected behavior

ESP32 runs a launch.py file of "robot_state_publisher" package in the app_main function.

Actual behavior

I dont know how to apply a package for my project.
clone the package into component folder, and then what to do?

Additional information

please let me know if there is any useful tutorial. Thank you very much!

[pablogs9]

Hi, you can add extra packages to the extra packages folder, packages in this folder will be cross-compiled along with the micro-ROS stack and you will be able to run the in the MCU.

But those packages should be compatible with the MCU you are working on. I guess that by now a launch.py Python script won't work with micro-ROS. In any case, you can check the functionality of robot_state_publisher and replicate it using RCLC in micro-ROS.

Please reopen if you have more questions.

[zzMiao123]

Thanks, but without launch.py how can I "ros2 run " in my MCU?

[pablogs9]

Please take a look at our tutorials for RTOS. micro-ROS do not have a CLI interface, it just provides a set of libraries to write ROS 2 compatible embedded code.

[zzMiao123]

OMG. Does that mean I cannot run executable files of packages in ROS2 community? I cannot use proven resources in ROS2 in my MCU for now, but only use rcl and rclc to create my program?
Sorry, I can't think of any other way to use the package's functions than to run the package directly.

[hellas2000]

I'm interested in your situation too, have you sucessfully done your job?
If not, I guess maybe you need to copy the code from that package and add it to your project, and start a new node in your code to perform the function of that package.