23.1. Microros Publisher Performance Test

23.1.1. Overview

The publisher example demonstrates the message publishing function of microros nodes through XRCE-Client。

One ubuntu host with ROS2 foxy version installed
Connect the host to the development board using a USB to serial port. The serial port number used by the development board can be found in board.h.

ros2 foxy install:

Installation steps on the official website [https://docs.ros.org/en/foxy/Installation/Alternatives/Ubuntu-Development-Setup.html].
Installing through APT(If necessary，change the source of ubuntu)

sudo apt update
sudo apt install ros-foxy-desktop

After installing ROS2 foxy, it is necessary to install the agent on the host side, which is installed through Docker

docker run -it --rm --net=host -v /dev/shm:/dev/shm -v /dev:/dev --privileged microros/micro-ros-agent:foxy serial --dev ${serial}

If you encounter a situation where the serial port cannot be opened, please change the permissions for the serial port

sudo chmod -R 777 ${serial}

After running the agent, reset the board.

Note

Currently, the static library linked by microros is compiled by GCC 11.1.0 and Andes Toolchain v520.

Open a new terminal

source /opt/ros/foxy/setup.bash

type ros2 node list You can see the “publisher” node.
type ros2 topic list You can see /int32_Publisher topic name.
type ros2 node info /publisher You can query node functions and message types
type ros2 topic echo /int32_publisher You can see the content of the published message. In this example, a 32-bit number is sent every 1 second, increasing each time.

data: 0
---
data: 1
---
data: 2
---
data: 3
---
data: 4
---
data: 5
---
data: 6
---