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Tools and source themcolcon buildsource install/local_setup.bashOnce the micro-ROS installation is complete, we can then proceed to install the micro-ROS agentin the host computer or the docker version. Since we are going to use Teensy 3.2 and precompiledmicro-ROS client library for our demonstration we will not be going to build the firmware andthus we will skip the firmware build steps from the first micro-ROS Application on an RTOS tutorials.To install the micro-ros Agent follow the steps below:# Download micro-ROS agent packagesros2 run micro_ros_setup create_agent_ws.shWe will now build the agent packages and, when this is done, source the installation:# Build stepros2 run micro_ros_setup build_agent.shsource install/local_setup.bashNow, let's give a dry run by running the micro-ROS agent by following the command:ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0The result should show something like this:This means the installation of the agent is successful.Now we can proceed to the next step which is the installation of Arduino IDEand Teensyduino and patching the Arduino-based Teensy board for using thepre-compiled libraries as described in the micro_ros_arduino repository.Installation of Arduino IDE, Teensyduino and setting up the patch for using the Teensy with micro-ROS and ROS2 foxy:Please follow the link for downloading the latest version ofArduino 1.8.15and install by following this link for the Linux version here.After installing Arduino IDE download Teensyduino from this link hereand follow the instruction as shown on this page.To summarize the instructions which are as follow:1. Download the Linux udev rules and copy the file to /etc/udev/rules.d. type the following command in a terminal $ sudo cp 00-teensy.rules /etc/udev/rules.d/3. Download and extract one of Arduino's Linux packages.Note: Arduino from Linux distro packages is not supported.4. Download the corresponding Teensyduino installer.5. Run the installer in a termincal by adding execute permission and then execute it.$ chmod 755 TeensyduinoInstall.linux64$ ./TeensyduinoInstall.linux64Now let's set up the patch for the teensy

Title permalink Teensy with Arduino /docs/tutorials/core/teensy_with_arduino/ In this tutorial you will learn how to connect Teensy with micro-ROS and ROS 2.You will also learn how to install micro-ROS agent in Linux systems to communicate withTeensy-based Arduino board using Arduino IDE. This tutorial will also cover asimple publisher topic published from teensy and subscribed using ROS 2 interface.Target platformTo start with, we will need a host computer with either having a nativeUbuntu 20.04 installed ROS 2 Foxy or using a docker version of the freshly build ROS 2 Foxyfrom this link. Now let us also look at the connection diagram which will help usunderstand the full picture better.Installing ROS 2 and micro-ROS in the host computer:Note: These first few steps are the same as in the micro-ROS installation page as in this linkFor this tutorial you have to install ROS 2 Foxy Fitzroy on your Ubuntu 20.04 LTS computer.You can do this from binaries, via Ubuntu packages, which are detailedhere.Note: Otherwise it is possible to use fresh docker build of ROS 2 Foxy installation by running these commands: sudo apt install docker.io sudo docker run -it --net=host -v /dev:/dev --privileged ros:foxyAfter running the docker, follow the command to verify if the ROS2 is running and shows the topic list:Docker builds ROS 2 Foxy version can also be used where it is not possible to installnative ROS 2 Foxy from binaries, e.g., Jetson Nano running Jetpack 4.5 with Ubuntu 18.04.Now Once you have a ROS 2 installation in the computer or docker, follow these steps to install the micro-ROS build system:# Source the ROS 2 installationsource /opt/ros/foxy/setup.bash# Create a workspace and download the micro-ROS toolsmkdir microros_wscd microros_wsgit clone -b $ROS_DISTRO src/micro_ros_setup# Update dependencies using rosdepsudo apt update && rosdep updaterosdep install --from-paths src --ignore-src -y# Install pipsudo apt-get install python3-pip# Build micro-ROS

Arduino to use the pre-compiled micro-ros-clientlibraries, Open a terminal window and follow the commands below: For more information followthe GitHub link from micro_ros_arduino platform.txt"># for me it was $ export ARDUINO_PATH=/home/manzur/arduino-1.8.13/export ARDUINO_PATH=[Your Arduino + Teensiduino path]cd $ARDUINO_PATH/hardware/teensy/avr/curl > platform.txtOnce the above instruction is complete, we will now be able to use the Teensy 3.2 andprogram it with the pre-compiled micro-ros-client libraries using Arduino IDE.Program the TeensyNow that we have patched the teensy Arduino IDE, we will be able to use the pre-compiled library by following these instructions:Go to link to release sectionand download the last release of micro-ROS library for Arduino.Place the file inside /home/$USERNAME/Arduino/libraries/ as shown below.Once this process is complete, now let us look at the example folder below:For this tutorial and test, we will be using mico-ros-publisher example as shown above since thisprogram will only publish integer data which will increase in every cycle. Once we selected theexample program, we will then upload the code in the Teensy 3.2 connected to our host computerwhich should show the result as follow.Running micro-ROS agent in ROS 2 FoxyNow, let's disconnect the Teensy for now from the host computer. We will then open a terminalor in the docker run the agent program once again as shown at the end ofstep 2. Make sure to source the ROS path as below:source /opt/ros/foxy/setup.bashand then run the agent program:ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0Once the program is running it will show this message:We will then reconnect the Teensy with the host computer and then we will seethat the connection is complete and it shows like this:This means the connection is complete with teensy containing micro-ros-client and micro-ros-agent in the host computer.Now for the big moment and test the ROS topic published from the teensy.This time we will open another terminal or docker