Polyphemus ROS2 environment

Run ROS2 agent

ros2 run micro_ros_agent micro_ros_agent [parameters]

Available arguments (per transport):

COMMON
- -h/--help.
- -m/--middleware (ced, dds, rtps) [default: 'dds'].
- -r/--refs .
- -v/--verbose ( - ) [default: ''].
- -d/--discovery [default: '7400'].
IPvX (udp4, udp6, tcp4, tcp6)
- -p/--port .
SERIAL (serial, multiserial, pseudoterminal)
- -b/--baudrate [default: '115200'].
- -D/--dev . * CAN FD (canfd)
- -D/--dev

Serial connection example:

ros2 run micro_ros_agent micro_ros_agent --baudrate 115200 --dev /dev/ttyACM0

ros2 topic list
ros2 topic echo /cubemx_publisher