Craziefly P2P communication with peripheral MCUs

avibrown commented 1 year ago

Hi folks! I would appreciate some info regarding the current state of P2P communication between MCUs running micro-ROS nodes, and whether my (theoretical) setup would be achievable:

Setup (theoretical)

Craziefly 2.1 with FreeRTOS connected over UART 1 & 2 to two separate Arduino rp2040 Connect dev boards with the micro-ROS Arduino library (as done here).
Ideally the Craziefly would also be able to communicate with a "ground control" Linux computer (with the PA module).

The rp2040 boards would be running distinct neural networks and publishing the inference results as per my micro-ROS + Edge Impulse project.

The reason I'm skeptical this is possible is because as far as I understand my options are to either:

Use a P2P Agent configuration as mentioned here but as they point out, this makes DDS access impossible
Use the (more updated) brokerless P2P implementation as per this post, in which case I think an agent is not even existant!

Thanks in advance for any guidance :) Avi

pablogs9 commented 1 year ago

Hi @avielbr, I guess that this is gonna be kind of hard to achieve with the current status of micro-ROS' Crazyflie port.

In any case, we were talking with the folks at Bitcraze about their new radio system for Crazyflie and they have very cool ideas: https://www.bitcraze.io/2022/11/new-crazyradio-and-new-communication-architecture/

When they have this new architecture ready, maybe we can iterate a bit on communicating P2P using micro-ROS APIs.

CC: @knmcguire

avibrown commented 1 year ago

Huh, that new design seems like it will be cool!

So my best bet for this setup would be:

2 Arduinos communicating over UART through a custom interface to the drone, and the drone connected over micro-ROS to the main computer. I think. Will update as this moves forward -- I just placed the order for the Crazyflie 2.1 :)

knmcguire commented 1 year ago

I'll also attach @ataffanel to this discussion too as he has the idea better in his head :) but great to hear that there is more p2p interest!

knmcguire commented 1 year ago

Btw, for anybody interested, we will have this Wednesday an townhall meeting about the Crazyradio 2.0 and ideas about the new comstack! please join for comments, discussions and questions!

https://github.com/orgs/bitcraze/discussions/426

micro-ROS / freertos_apps

Craziefly P2P communication with peripheral MCUs #105

Setup (theoretical)