WiFiEspAT Support

.github/workflows/ci.yml

@@ -54,6 +54,7 @@ jobs:
             arduino-cli lib install WiFiNINA
             arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
             arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details.
+            arduino-cli lib install WiFiEspAT
             # Build all demos
             arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
@@ -81,3 +82,5 @@ jobs:
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
+            arduino-cli compile --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v

README.md

@@ -24,27 +24,30 @@ As the build process for ROS 2 and micro-ROS is based on custom meta-build syste
 
 Supported boards are:
 
-| Board                                                                               | Min version | State      | Details                                                                                             | .meta file               |
-| ----------------------------------------------------------------------------------- | ----------- | ---------- | --------------------------------------------------------------------------------------------------- | ------------------------ |
-| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7)                 | v1.8.5      | Supported  | Official Arduino support                                                                            | `colcon.meta`            |
-| [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect) | v1.8.5      | Supported  | Official Arduino support                                                                            | `colcon_verylowmem.meta` |
-| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/)            | v1.4.16     | Supported  | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta`            |
-| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon.meta`            |
-| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon.meta`            |
-| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                          | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon_lowmem.meta`     |
-| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon_lowmem.meta`     |
-| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                                | `colcon_lowmem.meta`     |
-| [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5  | Supported  | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta`   |
+| Board                                                                                                       | Min version | State      | Details                                                                                              | .meta file               |
+| ----------------------------------------------------------------------------------------------------------- | ----------- | ---------- | ---------------------------------------------------------------------------------------------------- | ------------------------ |
+| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7)                                         | v1.8.5      | Supported  | Official Arduino support                                                                             | `colcon.meta`            |
+| [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect)                         | v1.8.5      | Supported  | Official Arduino support                                                                             | `colcon_verylowmem.meta` |
+| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/)                                    | v1.4.16     | Supported  | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide)  | `colcon.meta`            |
+| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                                                      | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon.meta`            |
+| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                                                      | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon.meta`            |
+| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                                                  | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
+| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                                                      | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
+| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                                                      | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
+| [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5      | Supported  | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta`            |
 
 Community contributed boards are:
 
-| Board                                                                                    | Min version | Contributor                                    | Details | .meta file               |
-| ---------------------------------------------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ |
-| [Arduino Due](https://store.arduino.cc/arduino-due)                                      | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
-| [Arduino Zero](https://store.arduino.cc/arduino-zero)                                    | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
-| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/)                          | -           | [@amfern](https://github.com/amfern)           |         | `colcon.meta`            |
-| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | -           | [@dominikn](https://github.com/dominikn)       |         | `colcon.meta`            |
-| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | -           | [@maehara-keisuke](https://github.com/maehara-keisuke)       |         | `colcon.meta`            |
+| Board                                                                                    | Min version | Contributor                                            | Details                                                                   | .meta file               |
+| ---------------------------------------------------------------------------------------- | ----------- | ------------------------------------------------------ | ------------------------------------------------------------------------- | ------------------------ |
+| [Arduino Due](https://store.arduino.cc/arduino-due)                                      | -           | [@lukicdarkoo](https://github.com/lukicdarkoo)         |                                                                           | `colcon_verylowmem.meta` |
+| [Arduino Zero](https://store.arduino.cc/arduino-zero)                                    | -           | [@lukicdarkoo](https://github.com/lukicdarkoo)         |                                                                           | `colcon_verylowmem.meta` |
+| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/)                          | -           | [@amfern](https://github.com/amfern)                   |                                                                           | `colcon.meta`            |
+| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | -           | [@dominikn](https://github.com/dominikn)               |                                                                           | `colcon.meta`            |
+| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/)               | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) |                                                                           | `colcon.meta`            |
+| [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/)         | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
+| [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/)                 | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
+| [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/)                    | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
 

examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino

@@ -9,7 +9,7 @@
 #include <std_msgs/msg/int32.h>
 
 #if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
-#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
+#error This example is only available for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
 #endif
 
 rcl_publisher_t publisher;

examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino

@@ -0,0 +1,89 @@
+// To use "ESP-AT External WiFi module"(hereinafter called "ESP-AT") with your board, install "WiFiEspAT" from Library Manager.
+// See https://www.espressif.com/en/products/sdks/esp-at/overview for more details about ESP-AT.
+
+#define BOARD_WITH_ESP_AT
+// Configurations about communication between Host MCU and ESP-AT.
+// In most cases, you would burn ESP-AT firmware v2 or later. And you should uncomment "#define WIFIESPAT1" in EspAtDrvTypes.h
+// See https://github.com/JAndrassy/WiFiEspAT/tree/7f398e14f331fc845c4af671f1946fe3f29a744f#getting-started for more details.
+#define ESP_AT_SERIAL_PORT Serial1 // Serial port object to ESP-AT
+#define ESP_AT_BAUDRATE 115200 // Baudrate setting in ESP-AT firmware(default is 115200)
+#define ESP_AT_RESET_PIN -1 // GPIO_PIN connected to ESP-AT's reset pin(-1 means not to use hardware reset)
+
+#include <micro_ros_arduino.h>
+
+#include <wifi_transport.cpp>
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+#include <std_msgs/msg/int32.h>
+
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#define BOARD_HAS_NATIVE_WIFI
+#endif
+
+#if defined(BOARD_HAS_NATIVE_WIFI)
+#error This example is not available for boards that have native WiFi.
+#endif
+
+rcl_publisher_t publisher;
+std_msgs__msg__Int32 msg;
+rclc_support_t support;
+rcl_allocator_t allocator;
+rcl_node_t node;
+
+#define LED_PIN 13
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
+
+
+void error_loop(){
+  while(1){
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(100);
+  }
+}
+
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+{
+  RCLC_UNUSED(last_call_time);
+  if (timer != NULL) {
+    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+    msg.data++;
+  }
+}
+
+void setup() {
+  set_microros_wifi_transports("WIFI SSID", "WIFI PASS", "192.168.1.57", 8888);
+
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, HIGH);
+
+  delay(2000);
+
+  allocator = rcl_get_default_allocator();
+
+  //create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // create node
+  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_wifi_node", "", &support));
+
+  // create publisher
+  RCCHECK(rclc_publisher_init_best_effort(
+    &publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "topic_name"));
+
+  msg.data = 0;
+}
+
+void loop() {
+    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+    msg.data++;
+}

src/micro_ros_arduino.h

@@ -95,7 +95,7 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 
 #endif
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
 
 #if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
 #include <WiFi.h>
@@ -106,6 +106,8 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 #elif defined(ARDUINO_WIO_TERMINAL)
 #include <rpcWiFi.h>
 #include <WiFiUdp.h>
+#elif defined(BOARD_WITH_ESP_AT)
+#include <WiFiEspAT.h>
 #endif
 
 extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
@@ -121,6 +123,15 @@ struct micro_ros_agent_locator {
 
 static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
 
+	#if defined(BOARD_WITH_ESP_AT)
+	ESP_AT_SERIAL_PORT.begin(ESP_AT_BAUDRATE);
+	while (!ESP_AT_SERIAL_PORT) {
+	}
+	WiFi.init(ESP_AT_SERIAL_PORT, ESP_AT_RESET_PIN);
+	while (WiFi.status() == WL_NO_MODULE) {
+	}
+	#endif
+
 	WiFi.begin(ssid, pass);
 
     while (WiFi.status() != WL_CONNECTED) {

src/wifi_transport.cpp

@@ -1,4 +1,4 @@
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
 #include <Arduino.h>
 
 
@@ -11,6 +11,8 @@
 #elif defined(ARDUINO_WIO_TERMINAL)
 #include <rpcWiFi.h>
 #include <WiFiUdp.h>
+#elif defined(BOARD_WITH_ESP_AT)
+#include <WiFiEspAT.h>
 #endif
 
 #include <micro_ros_arduino.h>