Setup Instructions

Note: It's recommended to run each command one line at a time to avoid errors and make debugging easier.

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1. Install Prerequisites

Run the following commands to install required packages:

sudo apt install build-essential
sudo apt install cmake
sudo apt install gcc-arm-none-eabi
sudo apt install libnewlib-arm-none-eabi
sudo apt install doxygen
sudo apt install git
sudo apt install python3

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2. Install the Pico Toolchain

1. Visit the micro-ROS Pico GitHub page.

2. Scroll to the Dependencies section and find the GCC ARM Embedded Toolchain (version 9.3.1 or similar).

3. Download the archive (e.g., .bz2 file) by right-clicking and saving it.

4. Extract the archive.

5. Move the extracted folder to your home directory:

   mv gcc-arm-none-eabi-9-2020-q2-update ~/

6. Add the toolchain path to your ~/.bashrc:

   export PICO_TOOLCHAIN_PATH=$HOME/gcc-arm-none-eabi-9-2020-q2-update/

7. Apply the changes:

   source ~/.bashrc

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3. Download and Configure the Pico SDK

1. Download the SDK:

   cd ~
   git clone --recurse-submodules https://github.com/raspberrypi/pico-sdk.git

2. Add the SDK path to your ~/.bashrc:

   export PICO_SDK_PATH=$HOME/pico-sdk

3. Apply the changes:

   source ~/.bashrc

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4. Download and Install picotool

1. Run the following commands:

   cd ~
   git clone https://github.com/raspberrypi/picotool.git
   cd picotool
   mkdir build
   cd build
   cmake ..
   make
   sudo make install

2. Verify the installation:

   picotool

   If installed correctly, this command will display usage information.

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5. Clone the Project Repository

Create a new directory and clone the project repository:

mkdir -p ~/micro_ros_ws/src
cd ~/micro_ros_ws/src
git clone https://github.com/RIPLaboratoryUH/PicoMicroROSBNO055.git

This will create a workspace directory and download the project files you'll use to build and flash micro-ROS on the Raspberry Pi Pico.

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6. Build the micro-ROS Project

Now navigate to your micro-ROS folder, create a build directory, and compile the project.

Important: Make any necessary changes to this setup before running the build commands in this step.

The three main files you may want to edit are:

• CMakeLists.txt
• pico_micro_ros_example.c
• picow_udp_transports.h

For example, if you're using a Raspberry Pi Pico 2W instead of a Pico W, you need to modify line 2 of CMakeLists.txt to set(PICO_BOARD pico2_w) from set(PICO_BOARD pico_w).

You also need to update your SSID and WiFi password in pico_micro_ros_example.c. This is also where you include how your sensor operates.

Also you need to update your IP address in picow_udp_transports.txt.

Run the following commands to build your project:

cd ~/micro_ros_ws/src/PicoMicroRos/
mkdir build
cd build
cmake ..
make

7. Flash the Raspberry Pi Pico

To flash the compiled program to your Pico:

1. Hold down the BOOTSEL button on the Pico as you plug it into your computer via USB.
   The Pico should mount as a USB mass storage device.

2. Run the appropriate command based on your device:

For Raspberry Pi Pico W:

cd ~/micro_ros_ws/src/PicoMicroRos/build/
cp ./pico_micro_ros_example.uf2 /media/$USER/RPI-RP2

For Raspberry Pi Pico 2W:

cd ~/micro_ros_ws/src/PicoMicroRos/build/
cp ./pico_micro_ros_example.uf2 /media/$USER/RP2350

This will copy the compiled .uf2 binary to your Pico, flashing the firmware.

8. Install Docker and micro-ROS Docker Plugin

To build static libraries for micro-ROS, you'll need Docker.

1. Follow the official Docker installation guide for Ubuntu:
   👉 Install Docker on Ubuntu

2. Once Docker is successfully installed, pull the micro-ROS static library builder image by running:

sudo docker pull microros/micro_ros_static_library_builder:jazzy

9. Run the micro-ROS Agent

You’re now ready to run the micro-ROS agent and communicate with your Pico.

1. Disconnect the Pico from USB and power it externally.
2. Then run the following command to launch the micro-ROS agent on your host machine:

sudo docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:jazzy udp4 --dev -p 8891

⏱️ Note: The Pico is programmed to search for the host agent for 1 minute after startup. You can change this duration in the source code if needed.

3. If you have ROS 2 installed, verify communication by listing active topics:

ros2 topic list

You should now see your micro-ROS topic in the list.