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Update custom transport example #46

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merged 1 commit into from
Mar 9, 2021
Merged

Update custom transport example #46

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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ Is possible to use a micro-ROS Agent just with this docker command:

```bash
# Serial micro-ROS Agent
docker run -it --rm -d /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6
```

## Purpose of the Project
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14 changes: 3 additions & 11 deletions examples/int32_publisher_custom_transport/main/main.c
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Expand Up @@ -38,16 +38,8 @@ void micro_ros_task(void * arg)
rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;

rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);

// Static Agent IP and port can be used instead of autodisvery.
RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));
//RCCHECK(rmw_uros_discover_agent(rmw_options));

// create init_options
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node;
Expand Down Expand Up @@ -88,10 +80,11 @@ void micro_ros_task(void * arg)
vTaskDelete(NULL);
}

static size_t uart_port = UART_NUM_0;

void app_main(void)
{
#if defined(RMW_UXRCE_TRANSPORT_CUSTOM)
size_t uart_port = UART_NUM_1;
rmw_uros_set_custom_transport(
true,
(void *) &uart_port,
Expand All @@ -104,7 +97,6 @@ void app_main(void)
#error micro-ROS transports misconfigured
#endif // RMW_UXRCE_TRANSPORT_CUSTOM

//pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
xTaskCreate(micro_ros_task,
"uros_task",
CONFIG_MICRO_ROS_APP_STACK,
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