Portenta H7 with Jetson NX

[guilleherreraf]

Hello! I'm working on a project where I use a NVIDIA Jetson NX (with Ubuntu 18 and ROS Dashing) as a high-level controller, and I want to send ROS messages to a Portenta H7 acting as a low-level controller. I uploaded the publisher.ino example to the Portenta and installed the Micro-XRCE-DDS Agent on the NVIDIA NX. Afterwards, I connected the Portenta via USB to the NX and launched the agent: ./MicroXRCEAgent serial --dev /dev/ttyACM0 -b 115200. However, when I run ros2 topic list, I'm not able to see the /arduino_chatter topic.

This is the message I get when I run the agent on the NX:

I also tried checking if there is some data being sent to the USB port, with the screen command, but there is nothing being sent to the port. Any idea what might be happening?

Update: I also tried doing the same with a DUE board, and I have the same issue. Update2: I also tried running the UDP example via Ethernet... and I have the same issue. The NX does not even recognize the Portenta in the network.

Thanks in advance!

[ROBOTIS-Will]

Hi @guilleherreraf I'm sorry about the delayed response. Looks like you've already found the micro ros arduino which will be replacing ros2arduino. Linking the thread of micro ros arduino below for other developers. https://github.com/micro-ROS/micro_ros_arduino/issues/111 Thanks.

[guilleherreraf]

Hello @ROBOTIS-Will, I managed to make it work via Ethernet (UDP). I gave micro-ROS a try, but I could not make it work. For my implementation I will keep using the ros2arudino package.