I'm testing a basic MicroROS project on a Pico RP2040. I have a pico debug probe hooked up to the pico SWD debug pins and UART serial wires to pico GPIO pins 16 and 17. Running minicom:
The program publishes correctly on the topic /buster/pico_publisher using the micro ros agent which is running on a connected raspberry pi 4b. The pico's usb is connected to the raspberry pi 4, and the pico debug probe to a Mac via usb.
When I comment out "rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);" in the callback, the strange characters disappear.
Publishing seems to inject something into the serial UART port.
I'm using the pre-compiled libmicroros library from the micro_ros_raspberrypi_pico_sdk.
I'm testing a basic MicroROS project on a Pico RP2040. I have a pico debug probe hooked up to the pico SWD debug pins and UART serial wires to pico GPIO pins 16 and 17. Running minicom:
minicom -b 115200 -o -D /dev/tty.usbmodem83202
I get this type of output:
~DD���Hello - blink 577 ~EE���Hello - blink 578 ~��PB�-Hello - blink 579 ~��QC��Hello - blink 580 ~��RD��Hello - blink 581 ~��SE�VHello - blink 582 ~JJ���Hello - blink 583 ~��UG�,Hello - blink 584 ~��VH��Hello - blink 585 ~MM���Hello - blink 586
The program publishes correctly on the topic /buster/pico_publisher using the micro ros agent which is running on a connected raspberry pi 4b. The pico's usb is connected to the raspberry pi 4, and the pico debug probe to a Mac via usb.
When I comment out "rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);" in the callback, the strange characters disappear.
Publishing seems to inject something into the serial UART port.
I'm using the pre-compiled libmicroros library from the micro_ros_raspberrypi_pico_sdk.
My main.c is:
And the CmakeLists.txt is:
This same setup has correct serial readouts using a simple program like this, so this doesn't appear to be a connection or pin assignment issue.
Am I missing something?