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Add int32_publisher_custom_transport_usbcdc example (#255)
* Add int32_publisher_custom_transport_usbcdc example This example demonstrates how to enable ROS2 communication via USB CDC and log output on the ESP32-S2. Reviewed-by: Leandro Mendes do Santos <[email protected]> Signed-off-by: Samuel Henrique Guimarães Alencar <[email protected]> * Add build for int32_publisher_custom_transport_usbcdc example to the CI workflow Signed-off-by: Samuel Henrique Guimarães Alencar <[email protected]> * Fix CI condition for int32_publisher_custom_transport_usbcdc example - Updated conditional logic to ensure builds are triggered only when idf_target is either 'esp32s2' or 'esp32s3' and idf_version is 'espressif/idf:release-v5.2'. Signed-off-by: Samuel Henrique Guimarães Alencar <[email protected]> --------- Signed-off-by: Samuel Henrique Guimarães Alencar <[email protected]>
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‎.github/workflows/ci.yml‎

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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: Build sample - int32_publisher_custom_transport_usbcdc
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shell: bash
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if: (matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3') && matrix.idf_version == 'espressif/idf:release-v5.2'
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run: |
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. $IDF_PATH/export.sh
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cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc
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idf.py set-target ${{ matrix.idf_target }}
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idf.py build
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- name: Build sample - multithread_publisher
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shell: bash
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run: |

‎examples/int32_publisher_custom_transport_usbcdc/.gitignore‎

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build
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sdkconfig
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sdkconfig.old
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managed_components
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.vscode

‎examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set (EXTRA_COMPONENT_DIRS "./../../.")
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(int32_publisher)
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‎examples/int32_publisher_custom_transport_usbcdc/README.md‎

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# USB-CDC Custom Transport Example
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| Supported Targets | ESP32-S2 | ESP32-S3 |
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|-------------------|----------|----------|
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This example demonstrates how to set up the ESP32-S2/S3 to function as a USB Serial Device (CDC-ACM) and communicate with micro-ROS agent using USB-CDC custom transport.
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The [TinyUSB component](https://components.espressif.com/components/espressif/esp_tinyusb) is used as the USB stack.
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This example is based on the [int32_publisher_custom_transport](https://github.com/micro-ROS/micro_ros_espidf_component/tree/jazzy/examples/int32_publisher_custom_transport), the [TinyUSB Serial Device Example](https://github.com/espressif/esp-idf/tree/master/examples/peripherals/usb/device/tusb_serial_device), and the [TinyUSB Console Example](https://github.com/espressif/esp-idf/tree/master/examples/peripherals/usb/device/tusb_console) for log output.
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## How to use example
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This example is configured to use the two interfaces of USB-CDC. One interface is used for the micro-ROS communication, and the other interface is used for the log output.
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### Hardware Required
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This example can be run on any development board that has a USB-CDC interface.
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### Configure the project
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Set the target device in the project configuration:
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```bash
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idf.py set-target esp32s2 # or esp32s3
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```
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If you want to use only the micro-ROS communication interface, you need to turn off log output in menuconfig. Run `idf.py menuconfig` and navigate to `Component config → Log output → Default log verbosity` and set it to `No output`. You should also set `Component config → TinyUSB Stack → Communication Device Class (CDC) → CDC Channel Count` to 1.
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### Build and Flash
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> [!NOTE]
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> The ESP32-S2/S3 chip needs to be in bootloader mode before it can be detected as a DFU device and flash. This can be achieved by pulling GPIO0 down (e.g., pressing the BOOT button), pulling RESET down for a moment, and releasing GPIO0.
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#### Build the project
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Build DFU image:
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```bash
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idf.py dfu
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```
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#### Flash the project
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Put the ESP32-S2/S3 into bootloader mode and run the following command:
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```bash
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idf.py dfu-flash
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```
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### Run micro-ROS Agent
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```bash
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export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
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ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
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```
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Output expected:
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```bash
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[1724443525.673894] info | TermiosAgentLinux.cpp | init | running... | fd: 3
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[1724443525.674071] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
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[1724443529.936542] info | TermiosAgentLinux.cpp | init | running... | fd: 3
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[1724443531.062646] info | Root.cpp | create_client | create | client_key: 0x3E801A05, session_id: 0x81
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[1724443531.062805] info | SessionManager.hpp | establish_session | session established | client_key: 0x3E801A05, address: 0
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[1724443531.107532] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x3E801A05, participant_id: 0x000(1)
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[1724443531.137064] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x3E801A05, topic_id: 0x000(2), participant_id: 0x000(1)
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[1724443531.167351] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x3E801A05, publisher_id: 0x000(3), participant_id: 0x000(1)
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[1724443531.237811] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x3E801A05, datawriter_id: 0x000(5), publisher_id: 0x000(3)
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```
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After connecting the ESP32-S2/S3 and the micro-ROS agent, you can list the topics:
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```bash
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export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
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ros2 topic list
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```
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Output expected:
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```bash
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/esp32s2/int32_publisher_usbcdc
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/parameter_events
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/rosout
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```
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And see if the `esp32s2/int32_publisher_usbcdc` topic is available. You can echo the topic to see the messages:
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```bash
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export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
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ros2 topic echo esp32s2/int32_publisher_usbcdc
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```
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Output expected:
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```bash
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data: 1
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---
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data: 2
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---
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data: 3
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---
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data: 4
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---
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data: 5
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.
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.
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.
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```
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To see the log output, you can use the following command:
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```bash
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minicom -D /dev/ttyACM1 -b 115200
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```
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Output expected:
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```bash
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Welcome to minicom 2.8
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OPTIONS: I18n
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Port /dev/ttyACM1
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Press CTRL-A Z for help on special keys
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I (2688) MAIN: micro-ROS task created
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I (2688) main_task: Returned from app_main()
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I (3708) TIMER_CALLBACK: Message published: 0
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I (4708) TIMER_CALLBACK: Message published: 1
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I (5708) TIMER_CALLBACK: Message published: 2
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I (6708) TIMER_CALLBACK: Message published: 3
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I (7708) TIMER_CALLBACK: Message published: 4
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I (8708) TIMER_CALLBACK: Message published: 5
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.
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.
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.
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```

‎examples/int32_publisher_custom_transport_usbcdc/app-colcon.meta‎

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{
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"names": {
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"rmw_microxrcedds": {
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"cmake-args": [
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"-DRMW_UXRCE_TRANSPORT=custom"
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]
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}
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}
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}

‎examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/CMakeLists.txt‎

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idf_component_register(SRCS "esp32s2_usbcdc_logging.c" INCLUDE_DIRS ".")

‎examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.c‎

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#include "esp32s2_usbcdc_logging.h"
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// Initialize USB-CDC logging
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esp_err_t esp32s2_usbcdc_logging_init(void)
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{
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const tinyusb_config_t tinyusb_config = {
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.descriptor = NULL,
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.string_descriptor = NULL,
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.external_phy = false,
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.configuration_descriptor = NULL,
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};
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esp_err_t ret = tinyusb_driver_install(&tinyusb_config);
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if (ret == ESP_ERR_INVALID_ARG || ret == ESP_FAIL) {
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return ret;
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}
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tinyusb_config_cdcacm_t acm_config = {
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.usb_dev = TINYUSB_USBDEV_0,
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.cdc_port = TINYUSB_CDC_ACM_1,
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.rx_unread_buf_sz = CONFIG_TINYUSB_CDC_RX_BUFSIZE,
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.callback_rx = NULL,
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.callback_rx_wanted_char = NULL,
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.callback_line_state_changed = NULL,
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.callback_line_coding_changed = NULL,
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};
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ret = tusb_cdc_acm_init(&acm_config);
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if (ret != ESP_OK) {
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return ret;
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}
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ret = esp_tusb_init_console(TINYUSB_CDC_ACM_1);
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return ret;
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}
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// Deinitialize USB-CDC logging
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esp_err_t esp32s2_usbcdc_logging_deinit(void)
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{
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esp_err_t ret = esp_tusb_deinit_console(TINYUSB_CDC_ACM_1);
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return ret;
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}

‎examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.h‎

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#ifndef ESP32S2_USBCDC_LOGGING_H
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#define ESP32S2_USBCDC_LOGGING_H
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#include "esp_err.h"
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#include "tinyusb.h"
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#include "tusb_cdc_acm.h"
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#include "tusb_console.h"
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#include "sdkconfig.h"
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#if (CONFIG_TINYUSB_CDC_COUNT < 2)
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#warning "Define CONFIG_TINYUSB_CDC_COUNT to 2 in menuconfig if you want log over USBCDC. Otherwise, disable log output in menuconfig."
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#endif
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#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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esp_err_t esp32s2_usbcdc_logging_init(void);
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esp_err_t esp32s2_usbcdc_logging_deinit(void);
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#ifdef __cplusplus
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}
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#endif
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#else
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#error "Logging over USB-CDC is only supported on ESP32-S2 or ESP32-S3 targets"
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#endif
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#endif // ESP32S2_USBCDC_LOGGING_H

‎examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/idf_component.yml‎

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## IDF Component Manager Manifest File
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dependencies:
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espressif/esp_tinyusb: "^1.4.4"
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## Required IDF version
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idf:
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version: ">=5.0"

‎examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/CMakeLists.txt‎

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idf_component_register(SRCS "esp32s2_usbcdc_transport.c"
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INCLUDE_DIRS "."
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REQUIRES micro_ros_espidf_component # include <uxr/client/transport.h>
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)

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