Add ESP32 Ethernet transport

.github/workflows/ci.yml

@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_rolling, teensy41_custom, pico]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, esp32dev_ethernet, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_rolling, teensy41_custom, pico]
 
         steps:
         - uses: actions/checkout@v3

README.md

@@ -28,18 +28,20 @@ PlatformIO will handle the full build process, including dependencies, compilati
 ## Supported boards
 Supported boards are:
 
-| Board                                        | Platform      | Framework   | Transports                       | Default meta file       |
-| -------------------------------------------- | ------------- | ----------- | -------------------------------- | ------------------------ |
-| `portenta_h7_m7`                             | `ststm32`     | `arduino`   | `serial` <br/> `wifi`            | `colcon.meta`            |
-| `teensy41`                                   | `teensy`      | `arduino`   | `serial` <br/> `native_ethernet` | `colcon.meta`            |
-| `teensy40`                                   | `teensy`      | `arduino`   | `serial`                         | `colcon.meta`            |
-| `teensy36` <br/> `teensy35` <br/> `teensy31` | `teensy`      | `arduino`   | `serial`                         | `colcon_lowmem.meta`     |
-| `due`                                        | `atmelsam`    | `arduino`   | `serial`                         | `colcon_verylowmem.meta` |
-| `zero`                                       | `atmelsam`    | `arduino`   | `serial`                         | `colcon_verylowmem.meta` |
-| `olimex_e407`                                | `ststm32`     | `arduino`   | `serial`                         | `colcon.meta`            |
-| `esp32dev`                                   | `espressif32` | `arduino`   | `serial` <br/> `wifi`            | `colcon.meta`            |
-| `nanorp2040connect`                          | `raspberrypi` | `arduino`   | `serial` <br/> `wifi_nina`       | `colcon_verylowmem.meta` |
-| `pico`                                       | `raspberrypi` | `arduino`   | `serial`                         | `colcon.meta`|
+| Board                                        | Platform      | Framework   | Transports                               | Default meta file        |
+| -------------------------------------------- | ------------- | ----------- | ---------------------------------------- | ------------------------ |
+| `portenta_h7_m7`                             | `ststm32`     | `arduino`   | `serial` <br/> `wifi`                    | `colcon.meta`            |
+| `teensy41`                                   | `teensy`      | `arduino`   | `serial` <br/> `native_ethernet`         | `colcon.meta`            |
+| `teensy40`                                   | `teensy`      | `arduino`   | `serial`                                 | `colcon.meta`            |
+| `teensy36` <br/> `teensy35` <br/> `teensy31` | `teensy`      | `arduino`   | `serial`                                 | `colcon_lowmem.meta`     |
+| `due`                                        | `atmelsam`    | `arduino`   | `serial`                                 | `colcon_verylowmem.meta` |
+| `zero`                                       | `atmelsam`    | `arduino`   | `serial`                                 | `colcon_verylowmem.meta` |
+| `olimex_e407`                                | `ststm32`     | `arduino`   | `serial`                                 | `colcon.meta`            |
+| `esp32dev`                                   | `espressif32` | `arduino`   | `serial` <br/> `wifi` <br/> `ethernet`*   | `colcon.meta`            |
+| `nanorp2040connect`                          | `raspberrypi` | `arduino`   | `serial` <br/> `wifi_nina`               | `colcon_verylowmem.meta` |
+| `pico`                                       | `raspberrypi` | `arduino`   | `serial`                                 | `colcon.meta`            |
+
+\* The ESP32 ethernet transport is community contributed.
 
 The community is encouraged to open pull request with custom use cases.
 
@@ -133,6 +135,19 @@ The transport can be configured with the `board_microros_transport = <transport>
     set_microros_native_ethernet_transports(local_mac, local_ip, agent_ip, agent_port);
     ```
 
+  - `ethernet`
+
+    ```c
+    IPAddress client_ip(192, 168, 1, 177);
+    IPAddress gateway(192, 168, 1, 1);
+    IPAddress netmask(255, 255, 255, 0);
+    IPAddress agent_ip(192, 168, 1, 113);
+    size_t agent_port = 8888;
+
+    // Optional hostname, defaults to nullptr (no hostname set)
+    set_microros_ethernet_transports(client_ip, gateway, netmask, agent_ip, agent_port, "my-microros-device");
+    ```
+
   - `custom`
 
     The user will need to write transport functions in app code and provide it to the micro-ROS library using [`rmw_uros_set_custom_transport()` API](https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/)

ci/platformio.ini

@@ -138,6 +138,14 @@ board_microros_transport = native_ethernet
 lib_deps =
     ../
 
+[env:esp32dev_ethernet]
+platform = espressif32
+board = esp32dev
+framework = arduino
+board_microros_transport = ethernet
+lib_deps =
+    ../
+
 ; WiFi platforms
 
 [env:portenta_h7_m7_wifi]

ci/src/main.cpp

@@ -2,6 +2,8 @@
 
 #if defined(MICRO_ROS_TRANSPORT_ARDUINO_WIFI)
 #include <WiFi.h>
+#elif defined(MICRO_ROS_TRANSPORT_ARDUINO_ETHERNET)
+#include <ETH.h>
 #endif
 
 #include <micro_ros_platformio.h>
@@ -78,6 +80,14 @@ void setup() {
   char psk[]= "WIFI_PSK";
 
   set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);
+#elif defined(MICRO_ROS_TRANSPORT_ARDUINO_ETHERNET)
+  IPAddress local_ip(192, 168, 1, 177);
+  IPAddress gateway(192, 168, 1, 1);
+  IPAddress netmask(255, 255, 255, 0);
+  IPAddress agent_ip(192, 168, 1, 113);
+  size_t agent_port = 8888;
+
+  set_microros_ethernet_transports(local_ip, gateway, netmask, agent_ip, agent_port, "micro-ros-eth");
 #elif defined(MICRO_ROS_TRANSPORT_ARDUINO_CUSTOM)
   rmw_uros_set_custom_transport(
     MICROROS_TRANSPORTS_FRAMING_MODE,

examples/ethernet_pubsub/README.md

@@ -0,0 +1,108 @@
+# micro-ROS Ethernet Publisher/Subscriber Example
+
+This example demonstrates how to create a micro-ROS node on an ESP32 that communicates over Ethernet with a ROS 2 system. The node implements a simple request-response pattern where it listens for names and responds with greetings.
+
+## Overview
+
+The ESP32 node:
+- Subscribes to the topic `micro_ros_name`
+- When it receives a name (e.g., "John"), it publishes "Hello John!" to the topic `micro_ros_response`
+- Uses Ethernet for communication with the ROS 2 system
+- Operates on ROS 2 domain ID 8
+
+## Hardware Requirements
+
+- ESP32 development board
+- LAN8710 or LAN8720 Ethernet PHY module
+- Ethernet cable
+
+### Ethernet PHY Wiring
+
+Connect the LAN8720 module to the ESP32 using the following pins:
+
+| ESP32 GPIO | LAN87XX Pin | Description |
+|------------|-------------|-------------|
+| GPIO 5     | POWER      | PHY Power   |
+| GPIO 23    | MDC        | Clock       |
+| GPIO 18    | MDIO       | Data        |
+| GPIO 17    | Clock      | 50MHz Clock |
+
+## Network Configuration
+
+The example uses the following network configuration (configurable in `main.cpp`):
+
+- ESP32 IP: 10.4.4.177
+- Gateway: 10.4.4.1
+- Netmask: 255.255.255.0
+- Agent IP: 10.4.4.187
+- Agent Port: 8888
+
+## Software Setup
+
+1. Install PlatformIO (if not already installed)
+2. Install Docker and Docker Compose
+3. Clone this repository
+4. Navigate to the example directory:
+   ```bash
+   cd examples/ethernet_pubsub
+   ```
+
+## Building and Flashing
+
+1. Build and flash the firmware:
+   ```bash
+   pio run -t upload
+   ```
+
+2. (Optional) Monitor the serial output:
+   ```bash
+   pio device monitor
+   ```
+
+## Running the micro-ROS Agent and RQT
+
+1. Allow X11 connections from Docker (needed for RQT):
+   ```bash
+   xhost +local:docker
+   ```
+
+2. Start the micro-ROS agent and RQT:
+   ```bash
+   docker compose up
+   ```
+
+This will start:
+- A micro-ROS agent listening on UDP port 8888
+- RQT with proper X11 forwarding for visualization
+
+## Testing the Example
+
+1. In RQT:
+   - Click on Plugins -> Topics -> Message Publisher
+   - Add the topic `/micro_ros_name`
+   - Set the message type to `std_msgs/String`
+   - Enter a name in the `data` field and click the checkbox to publish
+
+2. To view responses:
+   - In RQT, click on Plugins -> Topics -> Topic Monitor
+   - Subscribe to `/micro_ros_response`
+   - You should see responses like "Hello <name>!" when you publish names
+
+## Troubleshooting
+
+- If RQT doesn't appear, ensure X11 forwarding is properly set up with `xhost +local:docker`
+- Check the serial monitor for connection status and debugging information
+- Verify that your network configuration matches the settings in `main.cpp`
+- Ensure all Ethernet pins are properly connected
+
+## Cleaning Up
+
+1. Stop the Docker containers:
+   ```bash
+   docker compose down
+   ```
+
+2. Revoke X11 permissions (optional):
+   ```bash
+   xhost -local:docker
+   ```

examples/ethernet_pubsub/docker-compose.yaml

@@ -0,0 +1,33 @@
+version: "2.1"
+
+services:
+  micro-ros-agent:
+    image: microros/micro-ros-agent:humble
+    container_name: micro-ros-agent
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=8
+    ports:
+      - 8888:8888/udp
+    command: udp4 --port 8888 --verbose 6
+
+  rqt:
+    image: osrf/ros:humble-desktop
+    container_name: rqt-visualizer
+    network_mode: host
+    ipc: host
+    pid: host
+    tty: true
+    privileged: true
+    device_cgroup_rules:
+      - 'c 189:* rmw'
+    environment:
+      - ROS_DOMAIN_ID=8
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    command: bash -c "source /opt/ros/humble/setup.bash && rqt"
+

examples/ethernet_pubsub/platformio.ini

@@ -0,0 +1,8 @@
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+board_microros_transport = ethernet
+monitor_speed = 115200
+lib_deps =
+    https://github.com/micro-ROS/micro_ros_platformio