How to Use Micro ROS Control Board (ESP32): Examples, Pinouts, and Specs

Introduction

The Micro ROS Control Board (ESP32), manufactured by Yahboom, is a compact and versatile microcontroller board based on the ESP32 chip. It is specifically designed for robotics applications and supports Micro ROS, a lightweight version of the Robot Operating System (ROS) tailored for microcontrollers. This board enables efficient communication and control in robotic systems, making it ideal for projects requiring real-time performance and wireless connectivity.

Explore Projects Built with Micro ROS Control Board (ESP32)

Use Cirkit Designer to design, explore, and prototype these projects online. Some projects support real-time simulation. Click "Open Project" to start designing instantly!

ESP32-Controlled Robotic Vehicle with Ultrasonic Navigation

This is a robotic control system with an ESP32 microcontroller at its core. It is designed to operate servomotors for articulation, drive DC motors for locomotion, and utilize an ultrasonic sensor for distance sensing. The system includes a buzzer for audio signals and is powered by a Lipo battery with a rocker switch for power management.

Open Project in Cirkit Designer

ESP32-Based Obstacle Detection and Display System with Servo Control

This circuit features an ESP32 microcontroller board as the central processing unit, interfaced with multiple sensors and actuators. It includes IR and ultrasonic sensors for distance or obstacle detection, servomotors for movement control, and an ESP32-CAM module for image capture. The circuit also incorporates LEDs with current-limiting resistors for status indication and an I2C LCD display for outputting information or readings.

Open Project in Cirkit Designer

ESP32-WROOM-32UE Wi-Fi Controlled Robotic Car with OLED Display and RGB LED

This circuit is a WiFi-controlled robotic system powered by an ESP32 microcontroller. It features an OLED display for status messages, an RGB LED for visual feedback, and dual hobby gearmotors driven by an L9110 motor driver for movement. The system is powered by a 4 x AAA battery pack regulated to 5V using a 7805 voltage regulator.

Open Project in Cirkit Designer

ESP32-Based Interactive Audio Player with LCD Display and Battery Management

This is a microcontroller-based interactive device featuring an ESP32 for control, a Serial MP3 Player for audio output, an LCD display for user interface, and various buttons for input. It includes a battery with a charging module and voltage regulation, and uses a rocker switch for power control. The system's functionality is determined by the embedded code, which is currently a placeholder for future development.

Open Project in Cirkit Designer

Common Applications and Use Cases

• Robotics control systems
• IoT-enabled robotic devices
• Real-time sensor data acquisition and processing
• Wireless communication in robotic networks
• Integration with ROS-based systems for advanced robotics applications

Technical Specifications

Key Technical Details

Pin Configuration and Descriptions

Usage Instructions

How to Use the Component in a Circuit

1. Powering the Board:

   • Connect the board to a 5V power source via the USB port or the VIN pin.
   • Ensure the power supply provides sufficient current (at least 500 mA).

2. Connecting Peripherals:

   • Use the GPIO pins for connecting sensors, actuators, or other peripherals.
   • For I2C devices, connect to the SDA and SCL pins.
   • For SPI devices, use the MOSI, MISO, and SCK pins.

3. Programming the Board:

   • Install the Arduino IDE or PlatformIO for programming.
   • Add the ESP32 board package to your IDE.
   • Install the Micro ROS library for ROS integration.

4. Micro ROS Setup:

   • Configure the Micro ROS agent on your ROS-enabled computer.
   • Use the Micro ROS library to write firmware for the board, enabling communication with the ROS ecosystem.

Important Considerations and Best Practices

• Voltage Levels: Ensure all connected peripherals operate at 3.3V logic levels to avoid damaging the board.
• Wi-Fi Interference: Place the board away from sources of electromagnetic interference to maintain stable wireless communication.
• Firmware Updates: Regularly update the ESP32 firmware and Micro ROS library for optimal performance and security.
• Heat Management: Avoid prolonged operation at high loads to prevent overheating.

Example Code for Arduino IDE

Below is an example of how to set up the Micro ROS Control Board (ESP32) to publish sensor data to a ROS topic:

#include <micro_ros_arduino.h>
#include <WiFi.h>
#include <std_msgs/String.h>

// Wi-Fi credentials
const char* ssid = "Your_SSID";
const char* password = "Your_PASSWORD";

// ROS node handle
rcl_node_t node;
rcl_publisher_t publisher;
std_msgs__msg__String msg;

// Timer for publishing data
unsigned long last_publish_time = 0;
const unsigned long publish_interval = 1000; // 1 second

void setup() {
  // Initialize serial communication for debugging
  Serial.begin(115200);
  delay(1000);

  // Connect to Wi-Fi
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("\nWi-Fi connected!");

  // Initialize Micro ROS
  set_microros_wifi_transports(ssid, password, "192.168.1.100", 8888);

  // Create ROS node and publisher
  node = rcl_get_zero_initialized_node();
  rcl_node_init_default(&node, "esp32_node", "", &rcl_get_default_allocator());

  publisher = rcl_get_zero_initialized_publisher();
  rcl_publisher_init_default(
    &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
    "sensor_data"
  );

  // Prepare message
  msg.data.data = (char*)malloc(50);
  msg.data.size = 0;
  msg.data.capacity = 50;
}

void loop() {
  // Publish data at regular intervals
  if (millis() - last_publish_time >= publish_interval) {
    last_publish_time = millis();

    // Update message content
    snprintf(msg.data.data, msg.data.capacity, "Hello from ESP32 at %lu ms", millis());
    msg.data.size = strlen(msg.data.data);

    // Publish message
    rcl_publish(&publisher, &msg, NULL);
    Serial.println("Message published!");
  }

  // Handle Micro ROS tasks
  rclc_executor_spin_some(NULL, RCL_MS_TO_NS(100));
}

Troubleshooting and FAQs

Common Issues and Solutions

1. Wi-Fi Connection Fails:

   • Double-check the SSID and password.
   • Ensure the router is within range and not overloaded with devices.

2. Micro ROS Agent Not Found:

   • Verify the IP address and port of the Micro ROS agent.
   • Ensure the agent is running on the ROS-enabled computer.

3. Board Not Detected by IDE:

   • Install the correct USB driver for the ESP32.
   • Check the USB cable and port for proper connection.

4. Overheating:

   • Reduce the workload or add a heatsink to the ESP32 chip.

FAQs

• Can I use this board without ROS?
  Yes, the board can be used as a standard ESP32 microcontroller for non-ROS applications.

• What is the maximum range of Wi-Fi?
  The range depends on the environment but typically extends up to 30 meters indoors.

• Does the board support OTA updates?
  Yes, the ESP32 supports Over-The-Air (OTA) firmware updates.

• Can I use this board with a LiPo battery?
  Yes, but ensure the battery voltage is regulated to 5V before connecting to the VIN pin.