This is your rostral fact.
This is your microcontroller that will be controlling to the motors and fetching the data from the sensor.
The micurus will be connecting these two things.
It will connect your microcontroller to the Rostral.
So these are different microcontrollers that Microsoft supports.
We are going to use the esp32.
This one.
So let's see how we can use it.
There's not any mention of Esp32.
Can we use it?
The answer is yes.
Let's say the supported iOS.
Here we can see the bare metal support with the Arduino here.
Micro Ros Arduino repo.
This is our main concern.
Sported boards and here it is, the Esp32 dev board.
And this is exactly the Esp32 dev board.
You can either open your ubuntu softwares and from here you can install and there is another easy method
to install.
Or you know what I will do?
Open the terminal app, install arduino.
Okay.
The Arduino is installed.
Here it is.
We will need to set up Esp32 board on Arduino.
We need to some.
Add some configuration related to the esp32.
From here.
We need to go to the preferences and we need to add a line.
And here we need to add additional board managers URL.
So we will just copy this and go to this preferences.
And one more thing you need to choose the dark theme and here are additional boards.
Manager URL will just paste.
Okay.
Told.
Boards, board manager.
And then we have to search Esp32.
And there are several variables available.
We will open this and it says Arduino code for version 2.02.
So it works best with this.
And I have tested it.
It works with the latest version as well.
But for the sake of not getting into trouble, we will use this variant.
Okay, now we will install.
So the installation is complete.
I will just close.
So let's give it a try.
We are going to connect esp32.
We will select esp32 dev module.
Now we have to add a micro Ros Arduino library.
For that, we will come up here and this is the library that we're going to use.
Make sure that you have the Foxy branch selected here and then downloads it.
So the library is downloaded and it will be in the downloads here to include this library will go to
the sketch and glue library and add a zip library.
Download.
And this is the library.
I'll click.
Okay.
And this library is included.
Examples.
Quarter.
Include your library pieces here.
Micro Ros Arduino.
And Mike.
Publisher.
I'll click here and try to build it.
So now the Micro's first chord, that is a publisher.
It is compiled successfully.
So now we will try to upload on the esp32.
What we will do, we will plug in the esp32 and now we will upload.
It says the error message so the port is not selected.
Let's select the port to dev that is available.
Applaud.
Successful.
Congratulations.
You have your first micro score inside your a32.
Is there any topic created?
No.
We need micrurus.
So the micrurus next esp32 with your ros2 stack so it acts as a bridge that will show all the topics
that are inside the esp32 and allow the communication.
So now let's install Micros agent.
You'll see here we will select Foxy.
Go to your workspace.
As are see and copy here.
Ling could clone ling minus P foxy.
This is downloaded.
And now go one step back.
Could not find the package provided by the Microsoft message configured by the Microsoft research.
So if we have to install all the dependencies for that, we use a command.
This command will be used to install all the dependencies.
Michael Ross.
Agent Nate.
Okay.
Now try to build.
Can.
Successfully buried.
So now we have to microdose agent in our workspace as well.
Here it is.
The command was to run microdose agent Microdose agent.
Then the.
Then the port.
And they will return.
Nothing happening.
Well, nothing happening.
So mostly the Esp32 does not connect via UDP protocol, so we will try to connect it via serial and
for that we will just need to change the command a little bit.
And then the board on which our USB is connected.
How do they know that?
Because in here we have selected.
He didn't have to Usb0 We have to mention it here.
And now press the enable button.
And they will go.
We have first to enable button and it has connected with the Esp32.
So you have made the connection.
Congratulation.
This is an achievement to celebrate.
And there we go.
We are seeing the data from Esp32.
The integer is published by the Esp32 board.
It is continuously increasing.
There is a norm.
If you disconnect the esp32, the data transfer is cut off and you will also see this here.
Wording for the connection.