move everything to the root directory and remove binaries

Author: amx-piap

README.md

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+# Micro-ROS Power and Distance Sensors Demo
+
+This demo illustrates the micro-ROS capabilities and showcases the integration of micro-ROS with ROS 2 tools. Besides, it enables the comparison of micro-ROS and ROS 2 outcomes.
+
+The use-case consists in a ROS2-controlled [Raspberry Pi 4](https://www.raspberrypi.org/products/raspberry-pi-4-model-b/?resellerType=home) with a [TFMini](https://www.sparkfun.com/products/14588) sensor that measures the <span style="color:magenta">distance</span> to a target object and a micro-ROS-controlled [Olimex STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/open-source-hardware) board with the similar TFMini sensor, which measures the <span style="color:magenta"> distance</span> to the same object. The demo explores another micro-ROS-controlled Olimex STM32-E407 board, which measures the <span style="color:magenta">power consumption</span> of both Raspberry Pi 4 and Olimex STM32-E407 boards for distance measurements, using [INA219](https://www.antratek.com/ina-219-dc-current-sensor) sensors. The last component, a tablet display, visualizes measurement results using standard ROS 2 tools (rqt).
+
+Raspberry Pi 4 is running Linux and a ROS 2 application, while Olimex STM32-E407 boards are running NuttX and micro-ROS applications.Both of them are publishing sensor messages via UDP over  Ethernet LAN sending  distance and power data to the display. The tablet is running Linux, ROS 2 and a [micro-ROS agent](https://micro-ros.github.io/docs/overview/) to receive these messages. 
+
+## Contens
+- [Demo Box diagram](#demo-box-diagram)
+- [Topics](#topics)
+- [Hardware](#hardware)
+- [Sensor wiring](#sensor-wiring)
+- [Ethernet connection](#ethernet-connection)
+- [How to build the micro-ROS demo system on Olimex STM32-E407](#how-to-build-the-micro-ros-demo-system-on-olimex-stm32-e407)
+- [How to build the ROS 2 demo system on a tablet](#how-to-build-the-ros-2-demo-system-on-a-tablet)
+- [How to build the ROS 2 demo system on Raspberry Pi 4](#how-to-build-the-ros-2-demo-system-on-raspberry-pi-4)
+- [Running the demo](#running-the-demo)
+
+
+## Demo Box diagram
+![Demo_Box](images/demo_box.png)
+
+## Topics
+In this demo there are two different micro-ROS nodes and the ROS 2 node  which publish the following topics:
+- /distance_oli: *distance measured by a sensor on the Olimex-E407 board*, 
+- /power_oli: *power consumtion of the distance Olimex board*,
+- /power_rpi: *power consumtion of the Raspberry Pi*, 
+- /distance_rpi: *distance measured by a sensor on the Raspberry Pi*. 
+
+From these topics subscribes a ROS 2 node on the tablet. 
+
+## Hardware
+The following is a list of the demo hardware:
+- 1 x Raspberry Pi 4 + Power Supply + SD Card, 
+- 2 x Olimex STM32-E407 +  Power Supply + Ethernet cable,
+- 2 x TFMini Micro LiDAR Module,
+- 2 x INA219 DC Current Sensor + shunt resistor,
+- 1 x NETGEAR proSafe  Gigabit Switch GS105 +  Power Supply,
+- 1 x Getac 2 Tablet + Power Supply + Ethernet cable,
+- 1 x PC + ST-LINK/V2 to flash firmware to Olimex boards.
+
+## Sensor wiring
+
+|TFMini |  | Olimex STM-E407 |
+|------------:|-------------|-------------|
+|red| <----->|5V|
+|black| <----->|GND|
+|white| <----->|Tx3|
+|green| <----->|Rx3|
+
+<br>
+
+|TFMini |  | RPI / Pin Number |
+|------------:|-------------|-------------|
+|red| <----->|5V/2|
+|black| <----->|GNGND/6|
+|white| <----->|Tx/8|
+|green| <----->|Rx/10|
+
+<br>
+
+|INA219 |  | Olimex STM-E407 |
+|------------:|-------------|-------------|
+|SCL| <----->|I2C1_SCL (UEXT pin 5)|
+|SDA| <----->|I2C1_SDA (UEXT pin 6)|
+
+<br>
+
+|Load |INA219 Address  |Shunt Resistor [ohm] |
+|:-----------:|:-------------:|:------------:|
+|RPI | A0=GND, A1=GND|0.5 |
+|Olimex | A0=GND, A1=Vs|1 |
+
+<br>
+
+## Ethernet connection
+
+ IP addresses:
+```
+- Tablet: 192.168.10.2
+- RPI: 192.168.10.4
+- Distance Olimex: 192.168.10.17
+- Power Olimex: 192.168.10.18
+```
+
+
+## How to build the micro-ROS demo system on Olimex STM32-E407 
+The environment for setting up the Demo Box applications will be perform within a docker:
+- Download the micro-ROS base Foxy image from  [the Docker Hub](https://hub.docker.com/), then run a docker container
+
+```
+sudo docker pull microros/base:foxy
+sudo docker run -it --net=host --privileged -v /dev/bus/usb:/dev/bus/usb     microros/base:foxy
+```
+- Create a ROS 2 workspace in the uros_ws folder of the docker container and build the package
+
+```
+source /opt/ros/$ROS_DISTRO/setup.bash
+git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
+apt update && rosdep update
+rosdep install --from-path src --ignore-src -y
+apt-get install python3-pip
+apt-get -y install python3-pip
+colcon build
+source install/local_setup.bas
+```
+- Create the Nuttx firmware on Olimex-E407 with the Demo Box sensor applications
+```
+ros2 run micro_ros_setup create_firmware_ws.sh nuttx olimex-stm32-e407
+cd firmware/NuttX
+git checkout -t origin/ucs_demo_f
+cd ../apps
+git checkout -t origin/ucs_demo_f
+cd ..
+```
+Build an flash the firmware:
+- Set the configuration profile variable to select the demo distance or demo power application
+
+```
+CFG_PROFILE=demo_distance_romfs
+```
+
+- Build the application
+
+```
+ros2 run micro_ros_setup configure_firmware.sh $CFG_PROFILE
+cp firmware/NuttX/configs/olimex-stm32-e407/$CFG_PROFILE/rcS.template firmware/apps/nshlib/rcS.template
+cd firmware/apps/nshlib/
+../../NuttX/tools/mkromfsimg.sh -nofat ../../NuttX/
+cd /uros_ws/
+ros2 run micro_ros_setup build_firmware.sh
+```
+- Connect ST-Link/V2 to  Olimex STM32-E407 JTAG interface and flash the firmware
+
+```
+ros2 run micro_ros_setup flash_firmware.sh
+```
+
+- Repeat the procedure _Build the application_ with the Olimex used for monitoring the current consumption but before, the configuration needs to be changed as follow:
+
+```
+CFG_PROFILE=demo_power_romfs
+```
+
+
+## How to build the ROS 2 demo system on a tablet
+
+Use a tablet with Ubuntu 20.04 LTS (Focal Fossa) installation:
+- Install the ROS 2 Desktop system
+
+```
+sudo apt update && sudo apt install locales
+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 [arch=$(dpkg --print-architecture)] 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-foxy-desktop
+source /opt/ros/foxy/setup.bash
+sudo apt install -y python3-pip
+pip3 install -U argcomplete
+sudo apt install python3-colcon-common-extensions
+```
+- Install a micro_ROS agent
+
+```
+mkdir ~/microros_ws && cd ~/microros_ws
+git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
+sudo apt update && rosdep update
+rosdep install --from-path src --ignore-src -y
+colcon build
+source install/local_setup.bash
+ros2 run micro_ros_setup create_agent_ws.sh
+ros2 run micro_ros_setup build_agent.sh
+```
+
+- Install ROS 2 Demo Box packeges 
+
+```
+cd ~/
+git clone ssh://[email protected]:6822/amalki/demo_suitcase.git
+cd ~/demo_suitcase/
+colcon build
+```
+
+- Configure the static Ethernet address
+
+```
+IPv4 address: 192.168.10.2
+netmask 255.255.255.0
+```
+
+## How to build the ROS 2 demo system on Raspberry Pi 4
+
+- [Install the Ubuntu Server 20.04 on Raspberry Pi 4](https://roboticsbackend.com/install-ubuntu-on-raspberry-pi-without-monitor/)
+
+- Power on Raspberry Pi, obtain a console using ssh and install  the ROS 2 Foxy system as following
+
+```
+sudo locale-gen en_US en_US.UTF-8
+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+sudo apt update && sudo apt install curl gnupg2 lsb-release
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] 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-foxy-ros-base
+sudo apt install python3-colcon-common-extensions
+```
+
+- Install ROS 2 Demo Box packages
+
+```
+cd ~/
+git clone ssh://[email protected]:6822/amalki/demo_suitcase.git
+cd ~/demo_suitcase/
+colcon build
+```
+
+- Configure the static eth0 address assingment in the /etc/netplan/50-cloud-init.yaml file
+
+```
+network:
+    ethernets:
+        eth0:
+            dhcp4: no 
+            dhcp6: no 
+            addresses: [192.168.10.4/24]
+            gateway4: 192.168.10.1
+
+    version: 2
+```
+
+- Switch off the serial console by adjusting the /boot/firmware/cmdline.txt file
+
+```
+net.ifnames=0 dwc_otg.lpm_enable=0 root=LABEL=writable rootfstype=ext4 elevator=deadline rootwait fixrtc
+```
+
+- Boot the Raspberry Pi and abort the boot process through pressing a key on a serial terminal and set the bootdelay variable to -2 
+
+```
+U-Boot> setenv bootdelay -2
+U-Boot> saveenv
+```
+
+- Put the startup_rpi.sh script into a boot up sequence to run the demo application on a Rasberry Pi start up
+
+## Running the demo
+
+Connect the devices via an Ethernet switch and power them on, then  run the command on the tablet
+
+```
+~/demo_suitcase/startup.sh
+```
+
+After some time  two rqt windows should appear with sensors data histograms.
+
+![Demo_Screenshot](images/demo_screenshot.png)