Getting Started

A micro platform for controlling a robot arm via

• Web UI for jogging
• Programmable via Lua script
• REST interface
• ROS2 interface

Robot Arm

http://www.eezyrobots.it/eba_mk1.html

How to use

• Servos controlled at pins 15, 16, 14, 4
• Configuration of direction, home position, offset between joint and servo position in settings tab
• When SSID is not configured, WIFI access point is started (ROS interface is not working in AP mode)

How to build

In gitpod compile firmware with "idf.py build".

Build and test with qemu

• ./qemu_build.sh
• ./qemu_run.sh

Run tests with qemu

• ./qemu_build.sh
• ./start_microros_agent.sh
• ./run_tests.sh

Debug with qemu

Start debugging in VS Code (e.g. with F5) starts building for QEMU, runs QEMU and attaches debugger.

VS Code tasks

Hit ctrl*p and type "task "

• build qemu image
• build and run qemu image, wait for gdb
• backtrace decoder

TODO

• fix anything which is not working any longer after switching to plain esp idf
• wifi settings hardcoded
• implement over-the-air update
• automated tests with qemu

REST API

• /rest/get_joint_angles / HTTP_GET / application/json
• /rest/set_joint_angles / HTTP_POST / application/json
• curl -X POST http://esp-robotprog/rest/set_joint_angles -H 'Content-Type: application/json' -d '[10,20,30,40]'

Lua functions

• setJointAngles(int, int, int, int)
• getConfig() -- returns a table with the fields of the settings to access e.g. limits and home position
• pinMode(int)
• digitalWrite(int)
• digitalRead(int)
• delay(int)
• logSerial(string)
• logWeb(string)

ROS2 commands

• Start micro-ROS agent: docker run -it --rm --net=host microros/micro-ros-agent:galactic udp4 --port 8888 -v4
• ros2 node list
• ros2 topic list -t
• ros2 interface show std_msgs/msg/Int32MultiArray
• ros2 topic pub --once /micro_ros_robo_prog_subscriber std_msgs/msg/Int32MultiArray "{'data': [10, 20, 30, 40]}"