Polyphemus ROS2 environment

Run ROS2 agent

ros2 run micro_ros_agent micro_ros_agent [parameters]

Available arguments (per transport):

• COMMON
  • -h/--help.
  • -m/--middleware (ced, dds, rtps) [default: 'dds'].
  • -r/--refs .
  • -v/--verbose ( - ) [default: ''].
  • -d/--discovery [default: '7400'].
• IPvX (udp4, udp6, tcp4, tcp6)
  • -p/--port .
• SERIAL (serial, multiserial, pseudoterminal)
  • -b/--baudrate [default: '115200'].
  • -D/--dev . * CAN FD (canfd)
  • -D/--dev

Serial connection example:

ros2 run micro_ros_agent micro_ros_agent --baudrate 115200 --dev /dev/ttyACM0

Basic usage

ros2 topic list
ros2 topic echo /cubemx_publisher