micro-ROS-Agent
所属分类：collect
开发工具：C++
文件大小：0KB
下载次数：0
上传日期：2023-06-06 09:41:42
上 传 者：
sh-1993
说明： 使用Micro-XRCE-DDS代理的ROS 2软件包。，
(ROS 2 package using Micro XRCE-DDS Agent.,)
文件列表:
micro-ROS-Agent-rolling/ (0, 2023-06-06)
micro-ROS-Agent-rolling/3rd-party-licenses.txt (109, 2023-06-06)
micro-ROS-Agent-rolling/CONTRIBUTING.md (4738, 2023-06-06)
micro-ROS-Agent-rolling/LICENSE (11357, 2023-06-06)
micro-ROS-Agent-rolling/NOTICE (1015, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/CHANGELOG.rst (3564, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/CMakeLists.txt (7096, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/bin/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/bin/Xml_interface_gen.py (862, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/bin/Xml_read_default_profiles.py (654, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/cmake/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/cmake/SuperBuild.cmake (2494, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/Agent.hpp (1524, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/graph_manager/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp (12044, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/graph_manager/graph_typesupport.hpp (4035, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/utils/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/include/agent/utils/demangle.hpp (4183, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/launch/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/launch/micro_ros_agent_launch.py (340, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/package.xml (1068, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/resource/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/resource/StaticValues.xml (732, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/resource/rclcpp.xml (1051, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/src/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/src/agent/ (0, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/src/agent/Agent.cpp (13750, 2023-06-06)
micro-ROS-Agent-rolling/micro_ros_agent/src/agent/graph_manager/ (0, 2023-06-06)
... ...
# micro-ROS Agent
[](https://github.com/microROS/micro-ROS-Agent)
[](https://github.com/microROS/micro-ROS-Agent/releases)
ROS 2 package using Micro XRCE-DDS Agent.
## Overview
This repository contains the Micro-ROS Agent package.
Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
This package is a part of the Micro-ROS project stack.
For more information about Micro-ROS project click [here](https://micro-ros.github.io/).
The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
## Package features
### XML generation
During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
### Agent-Client communication mechanism
Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
- UDP and TCP over IPv4 and IPv6.
- Serial Port transports.
All available configurations are supported directly by the Micro XRCE-DDS agent.
## Purpose of the Project
This software is not ready for production use. It has neither been developed nor
tested for a specific use case. However, the license conditions of the
applicable Open Source licenses allow you to adapt the software to your needs.
Before using it in a safety relevant setting, make sure that the software
fulfills your requirements and adjust it according to any applicable safety
standards, e.g., ISO 26262.
## License
This repository is open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.
For a list of other open-source components included in this repository,
see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
## Known Issues/Limitations
Please notice the following issues/limitations:
* There is an unknown issue when dealing with serial ports shared with the micro-ROS agent running inside a Docker. Sometimes it works with a remarkable packet loss.
* There is an known issues with serial port communication on micro-ros-agent snap version. It is recommended to use the dockerized version or build it from source.
近期下载者：
相关文件：
收藏者：