add micro-ROS wifi transport and ldlidar stl drivers

linorobot / linorobot2

Autonomous mobile robots (2WD, 4WD, Mecanum Drive)

Apache License 2.0

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add micro-ROS wifi transport and ldlidar stl drivers #110

Closed hippo5329 closed 4 months ago

hippo5329 commented 4 months ago

add the micro-ROS udp4/wifi transport support to bringup
add ldliar stl drivers including ld06, ld19, stl-27l with serial and udp/tcp server/client transports support.

These patches are needed to run esp32 in wifi mode.

Cheers, Thomas Chou

hippo5329 commented 4 months ago

I modified one line. A single micro-ROS agent with udp4/wifi transport can handle multiple micro-ROS clients connections. When a micro-ROS udp4 agent is already running, we can skip the launch of another micro-ROS agent during bringup by setting micro_ros_transport:=false (ie, something except serial and udp4).

grassjelly commented 4 months ago

Thanks @hippo5329 . This LGTM. Before I merge, could you add the new sensor installation and updates to the following pls:

(MANUAL INSTALLATION GUIDE) https://github.com/linorobot/linorobot2/blob/humble/ROBOT_INSTALLATION.md
(DOCKER SCRIPT) https://github.com/linorobot/linorobot2/blob/humble/docker/install_sensors.bash

Thank you!

hippo5329 commented 4 months ago

Sure.

hippo5329 commented 4 months ago

Please check this update with docker script and manual installation guide.