Micro-ROS Robot Projects

This repository contains three micro-ROS-enabled Arduino/ESP32 projects for robotics applications:

• bot_control_twist_microros: Differential drive robot controller with PID motor control and ROS2 Twist command subscription.
• imu_microros: Publishes IMU sensor data to ROS2 using micro-ROS.
• oled_text_microros: Displays ROS2 String messages on an OLED screen.

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1. bot_control_twist_microros

Description

Implements a differential drive robot controller. Receives velocity commands (geometry_msgs/msg/Twist) via micro-ROS, computes wheel speeds, and controls two DC motors with PID feedback and encoder support.

Key Files

• bot_control_twist.ino: Main Arduino sketch, ROS2 setup, and control loop.
• DeffBot.h / DeffBot.cpp: Differential drive robot logic.
• motorController.h / motorController.cpp: Motor control with PID and encoder feedback.
• PID.h / PID.cpp: Simple PID controller.

Features

• Differential drive kinematics
• PID speed control for each motor
• Quadrature encoder support
• micro-ROS WiFi integration

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2. imu_microros

Description

Reads data from an LSM6 IMU sensor and publishes it as sensor_msgs/msg/Imu messages to ROS2 via micro-ROS.

Key File

• IMU_MICROROS.ino: Reads IMU, formats ROS2 messages, and publishes over WiFi.

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3. oled_text_microros

Description

Subscribes to a ROS2 topic and displays incoming std_msgs/msg/String messages on an SSD1306 OLED display.

Key File

• OLED_MICRO_ROS.ino: Sets up OLED, subscribes to ROS2, and displays messages.

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Getting Started

Hardware Requirements

• ESP32 or compatible Arduino board
• DC motors with encoders (for bot_control_twist_microros)
• Motor driver (H-bridge)
• LSM6 IMU sensor (for imu_microros)
• SSD1306 OLED display (for oled_text_microros)
• WiFi network

Software Requirements

• Arduino IDE
• micro-ROS Arduino library
• ESP32 board support for Arduino

Setup

1. Update WiFi Credentials
   Edit the .ino files and set your WiFi SSID, password, and micro-ROS agent IP address.

2. Wiring
   Connect your hardware according to your setup. Update pin assignments in the code as needed.

3. Build and Upload
   Open the desired .ino file in Arduino IDE, select your board, and upload.

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License

This project is for educational and research purposes.