Repository for interfacing ESP32 DevKit v1 with MPU6050 IMU sensor and publishing IMU readings to ROS over Wi-Fi. This is part of my internship project of Tower Robogame at AIRLab, PoliMi

• ROS must be installed in laptop (or PC)
• Arduino IDE must be installed in laptop (or PC)
• Arduino rosserial must be installed (see this link)
• ESP32 boards software must be installed in Arduino IDE through the Boards Manager
• Download MPU6050_tockn library and save in <installation_location>/Arduino/libraries path

Note : If you are using external power supply (to VIN pin), then remember to have common ground for all 3 (ESP, IMU and power supply).

• Open a terminal and do roscore to start the ROS master.
• Do ifconfig in another terminal and find your IP address (it is also the IP address of the ROS master)
• Configure your Wi-Fi SSID, password and the ROS master IP address in the imu_esp_ros.ino file
• Upload the imu_esp_ros.ino file to the ESP32 board through Arduino IDE
• Open another terminal and run rosrun rosserial_python serial_node.py tcp. This should allow the ESP32 to publish and subscribe to topics on the PC ROS master.
• Open another terminal and run rostopic echo /imu_data to check the output or rqt_plot to visualize the IMU data.

Note : In case the ESP32 does not connect when you do rosrun rosserial_python serial_node.py tcp, then press the EN button on the ESP32.

Note : If you are using an Arduino without Wi-Fi but connected through USB, just use rosrun rosserial_python serial_node.py /dev/ttyUSB* where you should replace the * by a number that you can find if you use ls /dev/ttyUSB. Sometimes, the command could be ls /dev/ttyACM.