esp32-microros-husarnet

ESP32 + Micro-ROS + Husarnet demo

Prerequisites

Install Visual Studio Code with PlatformIO extension.

Quick start

Clone the repo and open it in Visual Studio Code. Platformio should automatically install all project dependencies

Laptop (ROS 2 listener + Micro-ROS Agent)

1. In a demo/ folder rename .env.template to .env and place Husarnet Join Code here (you will findyour Husarnet Join Code at https://app.husarnet.com).

2. Launch micro-ROS agent (TCPv6 on port 8888), listener (from demo_nodes_cpp) and Husarnet container for VPN connectivity:

cd demo
docker-compose up

ESP32 (ROS 2 talker)

1. Rename credentials-template.h to credentials.h and type your WiFi an Husarnet Join Code here (the same as in .env file before)

2. Click "PlatformIO: upload" button to flash your ESP32 board connected to your laptop. You will find the following log in the serial monitor:

   **************************************
   micro-ROS + Husarnet example
   **************************************
   
   📻 1. Connecting to: FreeWifi Wi-Fi network . done
   
   ⌛ 2. Waiting for Husarnet to be ready ........ done
   
   Known hosts:
   esp32-talker (fc94:4050:1fc5:dc02:d27f:97b9:7f13:e215)
   master (fc94:4050:1fc5:dc02:d27f:97b9:7f13:e215)
   microros-agent (fc94:ffd0:3cd7:d104:2917:ae5c:a719:9e71)

Tips

Erasing flash memory of ESP32

1. Connect ESP32 to your laptop

2. Install platformio CLI

   pip install -U platformio

3. Make flash erase:

   pio run --target erase

Monitoring network traffic on hnet0 interface

sudo tcpflow -p -c -i hnet0