ESP32 ROS 2 konuşuyor

# Ubuntu 24.04 + ROS 2 Jazzy (resmi deb paketleri)
sudo apt install -y software-properties-common curl
sudo add-apt-repository universe
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
  | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt install -y ros-jazzy-desktop ros-dev-tools
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && source ~/.bashrc

# Kurulum kontrolü: iki terminal
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

# Ağdaki her şey aynı domain'de olsun (robot, PC, Pi)
echo "export ROS_DOMAIN_ID=7" >> ~/.bashrc

; platformio.ini — micro-ROS (Jazzy) + WiFi UDP transport
[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
board_microros_distro = jazzy
board_microros_transport = wifi
lib_deps =
  https://github.com/micro-ROS/micro_ros_platformio

#!/usr/bin/env python3
"""step_test.py — /cmd_vel'e step profili yollar, /motor/state'i CSV'ye yazar.

  ros2 run motor_tools step_test --ros-args -p speed:=0.4 -p out:=step.csv
Parametreler çalışırken değişebilir: ros2 param set /step_test speed 0.2
"""
import csv

import rclpy
from geometry_msgs.msg import Twist, Vector3
from rclpy.node import Node
from rclpy.qos import qos_profile_sensor_data


class StepTest(Node):
    def __init__(self):
        super().__init__("step_test")
        self.declare_parameter("speed", 0.3)       # m/s
        self.declare_parameter("out", "step.csv")
        self.pub = self.create_publisher(Twist, "cmd_vel", 10)
        self.create_subscription(Vector3, "motor/state", self.on_state, qos_profile_sensor_data)
        self.t0 = self.get_clock().now()
        self.file = open(self.get_parameter("out").value, "w", newline="")
        self.csv = csv.writer(self.file)
        self.csv.writerow(["t", "target_rpm", "rpm", "duty"])
        self.create_timer(0.05, self.tick)          # 20 Hz komut: watchdog'u besler

    def elapsed(self) -> float:
        return (self.get_clock().now() - self.t0).nanoseconds * 1e-9

    def tick(self):
        t = self.elapsed()
        v = self.get_parameter("speed").value
        cmd = Twist()
        cmd.linear.x = 0.0 if t < 0.5 else v if t < 3 else v * 0.4 if t < 5 else v if t < 7 else 0.0
        self.pub.publish(cmd)
        if t > 8:
            self.get_logger().info("bitti → " + self.get_parameter("out").value)
            self.file.close()
            raise SystemExit

    def on_state(self, m: Vector3):
        self.csv.writerow([f"{self.elapsed():.3f}", m.x, m.y, m.z])


def main():
    rclpy.init()
    node = StepTest()
    try:
        rclpy.spin(node)
    except SystemExit:
        pass
    finally:
        node.destroy_node()
        rclpy.try_shutdown()


if __name__ == "__main__":
    main()