Docs/micro ros

docs/micro-ros_doc.md

@@ -86,7 +86,7 @@ kobuki- mobile and user controlled
 
 **Advanced tutorials with NuttX**
 
-This is what we are planning to experiment with STM32-E407 Board.
+This is what we planned to experiment with STM32-E407 Board.
 
 
 *TO-DO*
@@ -95,9 +95,299 @@ This is what we are planning to experiment with STM32-E407 Board.
 
 2. [Study OliMex ST32-E407 config/data sheeet](https://github.com/micro-ROS/hardware/blob/master/documentation/stm32-e407/STM32-E407.pdf)
 
-See what else is required!
+
+--------------------------------------------------------------------------------------
+
+**Progress track and instructions with Olimex STM32 and Micro-ros**
+
+1. Installed ROS2 and the micro-ROS build system
+
+* On Ubuntu 18.04 LTS computer, install ROS 2 Dashing Diademata:
+
+```
+sudo locale-gen en_US en_US.UTF-8
+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+
+sudo apt update && sudo apt install curl gnupg2 lsb-release
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+sudo apt update
+sudo apt install ros-dashing-desktop
+
+```
+
+* Install micro-ROS build system:
+
+```
+# Source the ROS 2 installation
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+# Create a workspace and download the micro-ROS tools
+mkdir microros_ws 
+cd microros_ws
+git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-build
+
+# Update dependencies using rosdep
+sudo apt update && rosdep update
+rosdep install --from-path src --ignore-src -y
+
+# Build micro-ROS tools and source them
+colcon build
+source install/local_setup.bash
+
+```
+
+* Creating a firmware workspace that targets all the required code and tools ##We used NuttX RTOS for this experiment, options available were NuttX, FreeRTOS and Zephyr
+
+```
+ros2 run micro_ros_setup create_firmware_ws.sh [RTOS] olimex-stm32-e407
+
+```
+
+You will find a folder named firmware in your workspace.
+
+```
+#Update Cmake
+
+sudo apt install wget
+wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -
+sudo apt install software-properties-common
+sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
+sudo apt update
+sudo apt install cmake
+``` 
+* Configure the firmware
+
+```
+# Configure step
+ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS]
+```
+
+* Creating a new app in Nuttx (The following steps are RTOS-specific commands for creating a new app once the firmware folder is created inside microros_ws)
+
+```
+# Go to app folder inside firmware
+cd firmware/apps/examples
+
+# Create your app folder and required files. Contents of these file can be found in column Sample app in table above
+mkdir uros_pingpong
+cd uros_pingpong
+touch Kconfig
+touch Makefile
+touch app.c
+touch Make.defs
+```
+
+```
+cd microros_ws
+ros2 run micro_ros_setup configure_firmware.sh uros
+
+git clone https://bitbucket.org/nuttx/tools.git firmware/tools
+
+pushd firmware/tools/kconfig-frontends
+./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf 
+LD_RUN_PATH=/usr/local/lib && make && sudo make install && sudo ldconfig
+popd
+
+cd firmware/NuttX
+make menuconfig
+
+```
+***Troubleshooting***
+
+error in flashing image: https://github.com/micro-ROS/micro-ros-build/issues/38
+
+*********** ***********
+
+This will open the NuttX menu config, which allows you to modify the configuration of the RTOS, including adding a new application.
+
+On the menu, follow the path: Application Configuration -> Examples
+
+
+A list of the available applications will appear. You need to find: micro-ROS Ping-Pong and click y to add it.
+
+
+Now push three times the key ESC to close the menu. You will be asked if you want to save your new configuration, and you need to click Yes.
+
+```
+cd uros_ws/firmware/NuttX
+make savedefconfig
+
+```
+
+This will generate a file called defconfig inside of uros_ws/firmware/NuttX. This file is a config profile with all the configuration required to run your specific application.
+
+Finally create a folder called uros_pingpong into uros_ws/firmware/NuttX/configs/olimex-stm32-e407 and move the defconfig file to uros_pingpong folder so you can execute:
+
+```
+# Configure step
+ros2 run micro_ros_setup configure_firmware.sh uros_pingpong
+```
+***Troubleshooting***
+
+compile error: https://github.com/micro-ROS/micro-ros-build/issues/29
+
+*********** ***********
+
+* Flash the firmware on Olimex STM32-E407 Using JTAG interface
+
+Connect Olimex ARM-USB-TINY-H to the board:
+
+***Troubleshooting***
+
+If you get error in this step, set the correct power mode by using resistor on STM32E407. The resistor needs to be removed or set manually, check on boot jumpers and USB-OTG cables.
+
+Also check page 8, [olimex_STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf)
+
+![board-pic](../board.png)
+
+
+************ *************
+
+Make sure that the board power supply jumper (PWR_SEL) is in the 3-4 position in order to power the board from the JTAG connector:
+
+
+Once you have your computer connected to the Olimex board through the JTAG adapter, run the flash step:
+
+```
+# Flash step
+ros2 run micro_ros_setup flash_firmware.sh
+```
+
+* Running the micro-ROS app
+
+# create and build a micro-ROS agent
+
+```
+# Download micro-ROS-Agent packages
+ros2 run micro_ros_setup create_agent_ws.sh
+
+# Build micro-ROS-Agent packages, this may take a while.
+colcon build
+source install/local_setup.bash
+```
+
+#Olimex STM32-E407 Serial connection
+Olimex development board is connected to the computer using the usb to serial cable
+
+#Olimex STM32-E407 USB connection
+Olimex development board is connected to the computer using the USB OTG 2 connector (the miniUSB connector that is furthest from the Ethernet port).
+
+```
+#Find your serial device name
+ls /dev/serial/by-id/*
+
+# Run a micro-ROS agent
+ros2 run micro_ros_agent micro_ros_agent serial --dev [device]
+```
+
+* Test the sample micro-ROS app behaviour
+
+```
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+# Subscribe to micro-ROS ping topic
+ros2 topic echo /microROS/ping
+```
+```
+#You should see the topic messages published by the Ping Pong node every 5 seconds:
+
+user@user:~$ ros2 topic echo /microROS/ping
+stamp:
+  sec: 20
+  nanosec: 867000000
+frame_id: '1344887256_1085377743'
+---
+stamp:
+  sec: 25
+  nanosec: 942000000
+frame_id: '730417256_1085377743'
+---
+
+#In another command line, let’s subscribe to the pong topic
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+# Subscribe to micro-ROS pong topic
+ros2 topic echo /microROS/pong
+
+#At this point, we know that our app is publishing pings. Let’s check if it also answers to someone else pings in a new command line:
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+# Send a fake ping ros2 topic pub --once /microROS/ping std_msgs/msg/Header '{frame_id: "fake_ping"}' Now, we should see on the ping subscriber our fake ping along with the board pings:
+
+user@user:~$ ros2 topic echo /microROS/ping
+stamp:
+  sec: 0
+  nanosec: 0
+frame_id: fake_ping
+---
+stamp:
+  sec: 305
+  nanosec: 973000000
+frame_id: '451230256_1085377743'
+---
+stamp:
+  sec: 310
+  nanosec: 957000000
+frame_id: '2084670932_1085377743'
+---
+#And in the pong subscriber, we should see the board’s answer to our fake ping:
+
+user@user:~$ ros2 topic echo /microROS/pong
+stamp:
+  sec: 0
+  nanosec: 0
+frame_id: fake_ping
+---
+```
+
+
+**NuttX specific tutorials**
+
+NSH is a system console that can be used through different interfaces
+
+* NSH console over USB
+
+Visit this link [nsh console over USB](https://micro-ros.github.io/docs/tutorials/advanced/nuttx/nsh_usb/)
+
+* NSH console over UART
+
+Visit this link [nsh console over UART](https://micro-ros.github.io/docs/tutorials/advanced/nuttx/nsh_uart/)
+
+* NSH console over UART
+
+Visit this link [nsh console over UART](https://micro-ros.github.io/docs/tutorials/advanced/nuttx/debugging/)
+
+
+* Debugging a NuttX Application
+
+Visit this link [Debugging a NuttX Application
+](https://micro-ros.github.io/docs/tutorials/advanced/nuttx/add_microros_config/)
+
+NOTE- Due to requirement of USB-TL232 cable I was getting errors and hence it was stopped in between.
+
+
+
+***Document in use for more reference***:
+
+1. [getting_started_embedded](https://micro-ros.github.io/docs/tutorials/basic/getting_started_embedded/)
+
+2. [STM32-E407-BLINK](https://github.com/NicHub/STM32-E407-BLINK)
+
+3. [ARM-USB-OCD_and_OCD_H_manual](https://www.olimex.com/Products/ARM/JTAG/_resources/ARM-USB-OCD_and_OCD_H_manual.pdf)
+
+4. [NSH-USB-Olimex](https://micro-ros.github.io/docs/tutorials/advanced/nuttx_getting_started/#NSH-USB-Olimex)
+
+5. [stm32-e407](https://github.com/micro-ROS/hardware/blob/master/documentation/stm32-e407/stm32-e407.md)
+
+6. [micro-ros](https://micro-ros.github.io/)
+
+
 
 
 
-**STM-32