Pablo Garrido

Could you share your micro-ROS Agent output with the flag `-v6` ?

It is setting a verbosity to max level. Is this the whole log or there are more lines?

In any case, the way to go when using ESP32-based boards is the micro-ROS Component for IDF: https://github.com/micro-ROS/micro_ros_espidf_component Could you give it a try and report if the same error...

Do you have your ROS 2 environment source when trying to build this package? Make sure that **it is not sourced**, also check your bashrc to see if it is...

Hello, @migsdigs is there a possibility of using directly [micro-ROS module for ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component)? I guess that you will have a better development experience with micro-ROS. If not possible, could you...

Ok, so let's focus on this code running in your current toolchain/platform: https://github.com/migsdigs/Hiwonder_xArm_ESP32/blob/main/Hiwonder_xArm_ROS2/src/main.cpp - Does it work if you publish directly in the `loop()` function? - Does it freeze or...

Does it enters the timer if you remove the `delay(100)` in the `loop()`? If not I guess that you shall check that this function is working correctly: https://github.com/micro-ROS/micro_ros_platformio/blob/841dc1396eb1d54d61b66781768359ed00d5de6c/platform_code/arduino/clock_gettime.cpp#L8 Maybe printing...

Sure, take a look at that function we have found some platforms where micros() or millis() are not working properly. If not, it might be a transport issue. Btw if...

You are using the Serial device in your platform as the micro-ROS communication device. **You cannot use it to print into the terminal or you will generate interferences with the...

I'm not sure that running micro-ROS code in an ISR is a good idea. Is this timer an ISR?