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This is your rostral fact.

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This is your microcontroller that will be controlling to the motors and fetching the data from the sensor.

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The micurus will be connecting these two things.

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It will connect your microcontroller to the Rostral.

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So these are different microcontrollers that Microsoft supports.

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We are going to use the esp32.

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This one.

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So let's see how we can use it.

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There's not any mention of Esp32.

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Can we use it?

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The answer is yes.

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Let's say the supported iOS.

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Here we can see the bare metal support with the Arduino here.

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Micro Ros Arduino repo.

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This is our main concern.

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Sported boards and here it is, the Esp32 dev board.

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And this is exactly the Esp32 dev board.

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You can either open your ubuntu softwares and from here you can install and there is another easy method

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to install.

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Or you know what I will do?

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Open the terminal app, install arduino.

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Okay.

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The Arduino is installed.

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Here it is.

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We will need to set up Esp32 board on Arduino.

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We need to some.

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Add some configuration related to the esp32.

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From here.

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We need to go to the preferences and we need to add a line.

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And here we need to add additional board managers URL.

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So we will just copy this and go to this preferences.

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And one more thing you need to choose the dark theme and here are additional boards.

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Manager URL will just paste.

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Okay.

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Told.

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Boards, board manager.

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And then we have to search Esp32.

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And there are several variables available.

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We will open this and it says Arduino code for version 2.02.

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So it works best with this.

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And I have tested it.

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It works with the latest version as well.

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But for the sake of not getting into trouble, we will use this variant.

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Okay, now we will install.

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So the installation is complete.

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I will just close.

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So let's give it a try.

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We are going to connect esp32.

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We will select esp32 dev module.

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Now we have to add a micro Ros Arduino library.

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For that, we will come up here and this is the library that we're going to use.

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Make sure that you have the Foxy branch selected here and then downloads it.

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So the library is downloaded and it will be in the downloads here to include this library will go to

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the sketch and glue library and add a zip library.

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Download.

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And this is the library.

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I'll click.

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Okay.

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And this library is included.

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Examples.

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Quarter.

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Include your library pieces here.

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Micro Ros Arduino.

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And Mike.

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Publisher.

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I'll click here and try to build it.

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So now the Micro's first chord, that is a publisher.

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It is compiled successfully.

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So now we will try to upload on the esp32.

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What we will do, we will plug in the esp32 and now we will upload.

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It says the error message so the port is not selected.

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Let's select the port to dev that is available.

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Applaud.

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Successful.

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Congratulations.

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You have your first micro score inside your a32.

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Is there any topic created?

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No.

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We need micrurus.

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So the micrurus next esp32 with your ros2 stack so it acts as a bridge that will show all the topics

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that are inside the esp32 and allow the communication.

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So now let's install Micros agent.

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You'll see here we will select Foxy.

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Go to your workspace.

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As are see and copy here.

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Ling could clone ling minus P foxy.

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This is downloaded.

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And now go one step back.

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Could not find the package provided by the Microsoft message configured by the Microsoft research.

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So if we have to install all the dependencies for that, we use a command.

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This command will be used to install all the dependencies.

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Michael Ross.

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Agent Nate.

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Okay.

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Now try to build.

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Can.

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Successfully buried.

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So now we have to microdose agent in our workspace as well.

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Here it is.

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The command was to run microdose agent Microdose agent.

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Then the.

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Then the port.

103
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And they will return.

104
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Nothing happening.

105
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Well, nothing happening.

106
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So mostly the Esp32 does not connect via UDP protocol, so we will try to connect it via serial and

107
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for that we will just need to change the command a little bit.

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And then the board on which our USB is connected.

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How do they know that?

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Because in here we have selected.

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He didn't have to Usb0 We have to mention it here.

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And now press the enable button.

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And they will go.

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We have first to enable button and it has connected with the Esp32.

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So you have made the connection.

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Congratulation.

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This is an achievement to celebrate.

118
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And there we go.

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We are seeing the data from Esp32.

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The integer is published by the Esp32 board.

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It is continuously increasing.

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There is a norm.

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If you disconnect the esp32, the data transfer is cut off and you will also see this here.

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Wording for the connection.