ESP32接入ROS2 及相关指定 AMD64 ARM64均可

#### ROS命令

```

docker pull ros:jazzy-ros-core

docker run -it --rm ros:jazzy-ros-core

```

##### ROS各版本内置包说明

https://www.ros.org/reps/rep-2001.html#id35

https://docs.ros.org/en/jazzy/How-To-Guides/Installing-on-Raspberry-Pi.html

 

##### ROS 搭建micro_ros 必须使用专用的框架，并不支持win系统，详情见以下操作

https://github.com/micro-ROS/micro_ros_platformio

##### ubuntu相关配置串口权限

将当前用户添加到dialout组中。这样，属于dialout组的用户将能够访问所有由该组管理的串口设备。

```

sudo adduser ${USER} dialout

sudo usermod -aG dialout ${USER}

```

重启系统

##### docker运行

关闭所有正在运行的Docker容器

```

docker stop $(docker ps -a -q)

```

按需要选择相关命令启动

```

# UDPv4 micro-ROS Agent

docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6

docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:jazzy udp4 --port 8888 -v6

# Serial micro-ROS Agent

docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial --dev [YOUR BOARD PORT] -v6

# TCPv4 micro-ROS Agent

docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO tcp4 --port 8888 -v6

# CAN-FD micro-ROS Agent

docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO canfd --dev [YOUR CAN INTERFACE] -v6

```