Welcome to MicroROS V2 Robot Car repository
5. Connect to MicroROS Agent
Connecting to the microROS Agent
1. Objectives of This Section
Understand the role of the micro-ROS Agent, and learn how to start the Agent and confirm the communication connection between the control board and the virtual machine.
2. Explanation of Key Terms
| Keyword | Description |
|---|---|
| micro-ROS Agent | A bridging program running on the virtual machine that communicates ROS2 topics with the micro-ROS client on the ESP32-S3 control board via UDP |
| UDP port | The network port that the Agent listens on; the default is 8090, and it must be consistent with the control board configuration |
| Green light | The green LED on the control board; a steady light means the Agent has been successfully connected |
3. Prerequisites
- The robot parameter configuration (Wi-Fi, Agent IP, port, etc.) has been completed. Refer to 4. Virtual Machine Configuration and Robot Connection.
- The control board and the virtual machine are on the same LAN.
4. Starting the micro-ROS Agent
Run the following in MicroROS_V2_VM:
ros2 launch microros_v2_bringup test_connect.launch.py
After starting the Agent, observe the green light on the control board, and you should be able to see the camera feed:
| Green light status | Meaning |
|---|---|
| Steady on | Successfully connected to the Agent; communication is normal |
| Off | Not connected to the Agent |
If the green light is off, check the following:
- Whether the Wi-Fi name and password of the control board are correct
- Whether the Agent IP is set to the real IP of the virtual machine
- Whether the Agent port is consistent (default 8090)
- Whether the ROS_DOMAIN_ID matches the one set in the virtual machine
- Whether the virtual machine firewall allows UDP port 8090