ROS2与arduino入门教程-安装Micro-XRCE-DDS

ROS2与arduino入门教程-安装Micro-XRCE-DDS

说明：

• 介绍如何安装Micro-XRCE-DDS客户端

步骤：

• 下载源码并安装

$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent && git checkout v1.3.0
$ mkdir build && cd build
$ source /opt/ros/dashing/setup.bash # to share libraries with ros2
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig /usr/local/lib/

测试：

• arduino刷入例子代码之后，通过串口转usb线接入linux主机usb口

• linux新终端下，串口连接

$ MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200

• linux新终端下,执行打印话题列表

ros2 topic list

参考：

• https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
• https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html
• https://micro-xrce-dds.docs.eprosima.com/en/latest/