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Linux docker run -it -v $PWD:/project --privileged=true --device /dev/ttyUSB0:/dev/ttyUSB0 --device /dev/ttyUSB1:/dev/ttyUSB1 tianrking/microros_idf5.1_esp32:only_for_esp32 bashWindows docker run -it -v %CD%:/project --privileged=true --device /dev/ttyUSB0:/dev/ttyUSB0 --device /dev/ttyUSB1:/dev/ttyUSB1 tianrking/microros_idf5.1_esp32:only_for_esp32 bashsource /opt/esp/python_env/idf5.1_py3.8_env/bin/activate
source /opt/esp/idf/export.sh
export IDF_ROS_PATH=~/micro_ros_espidf_component
cd /ESP32_MicroROS
idf.py build//cp -r MicroROS_ESP32/* project 映射到本地的目录 Set target board [esp32|esp32s2|esp32s3|esp32c3] //idf.py set-target esp32 选择不同的esp32 这里会下载 microros的库 如果没有外网不要执行 默认是 esp32 可以的解决方式是添加 proxychains4 或者改写dockerfile 预先编译 idf.py menuconfig #直接配置 wifi信息 Set your micro-ROS configuration and WiFi credentials under micro-ROS Settingsidf.py build #编译 |
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Issue: CH341-UART Device DisconnectionProblem DescriptionWhen connecting an ESP32 development board (or any device using a CH341 USB-to-Serial converter) to a Linux machine, the device gets recognized and attached to CauseThe SolutionStopping
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microros topic limit {
"names": {
"tracetools": {
"cmake-args": [
"-DTRACETOOLS_DISABLED=ON",
"-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
]
},
"rcl":{
"cmake-args":[
"-DRCL_MICROROS=ON"
]
},
"rcutils": {
"cmake-args": [
"-DBUILD_SHARED=OFF",
"-DENABLE_TESTING=OFF",
"-DRCUTILS_NO_FILESYSTEM=ON",
"-DRCUTILS_NO_THREAD_SUPPORT=ON",
"-DRCUTILS_NO_64_ATOMIC=ON",
"-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
]
},
"microxrcedds_client": {
"cmake-args": [
"-DUCLIENT_PIC=OFF",
"-DUCLIENT_PROFILE_DISCOVERY=ON",
"-DUCLIENT_PROFILE_UDP=ON",
"-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
"-DUCLIENT_PROFILE_SERIAL=OFF",
"-DUCLIENT_PROFILE_TCP=OFF",
"-DUCLIENT_MIN_HEARTBEAT_TIME_INTERVAL=1"
]
},
"rmw_microxrcedds": {
"cmake-args": [
"-DRMW_UXRCE_XML_BUFFER_LENGTH=400",
"-DRMW_UXRCE_TRANSPORT=udp",
"-DRMW_UXRCE_MAX_NODES=1",
"-DRMW_UXRCE_MAX_PUBLISHERS=2",
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=2",
"-DRMW_UXRCE_MAX_SERVICES=1",
"-DRMW_UXRCE_MAX_CLIENTS=1",
"-DRMW_UXRCE_MAX_HISTORY=1"
]
},
"embeddedrtps": {
"cmake-args": [
"-DERTPS_MAX_PUBLISHERS=2",
"-DERTPS_MAX_SUBSCRIPTIONS=2",
"-DERTPS_MAX_SERVICES=1",
"-DERTPS_MAX_CLIENTS=1",
"-DERTPS_MAX_HISTORY=10"
]
},
"tracetools": {
"cmake-args": [
"-DTRACETOOLS_DISABLED=ON",
"-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
]
}
}
} |
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esp32 GPIO34 ～ GPIO39 尽可能只用做输入 如RX 大概率不支持输出 |
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18 个模数转换器 (ADC) 通道 |
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Arduino 框架下 ESP32 系列芯片的功能支持情况: arduino_2.0.17_idf_4.4.7
Arduino 库支持情况的信息添加到表格中:
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混合 到一起 可能细节 有错误
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TEST: OK
idf.py5.1 py3.8
esp32c3 ok
esp32 ok
esp32s3 ok
esp32s2 ok
https://hub.docker.com/r/espressif/idf/tags
Note: Rebuild different chip need run
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