ROS2 and Arduino (Teensy 4.1) communication over Ethernet?

• ros2arduino

  4 202 0.0 C

  This library helps the Arduino board communicate with the ROS2 using XRCE-DDS.

  

The publisher_ethernet_udp example in the ros2arduino library will build and run just fine, but I can't seem to get it to actually publish anything. When using the default Ethernet library, it hangs at the while(Ethernet.linkStatus() != LinkON); line forever. By switching to the QNEthernet library and adding DHCP, I can connect to the local network, get through the ros2::init, and start the spin, but nothing ever publishes. My guess is that it's failing to connect to the ROS2 instance on the Ubuntu machine, but I don't know what's missing to let it do so. I've tried setting the AGENT_IP to the IP address of the Ubuntu machine (which I believe is the correct setting), as well as the IP of the Teensy and just some random IPs for kicks. I don't know what the AGENT_PORT should be set to, but I've tried 11811 and the default 2018. The ros2arduino and QNEthernet code is below: main.cpp ```

• QNEthernet

  1 69 9.8 C

  An lwIP-based Ethernet library for Teensy 4.1 and possibly some other platforms

void loop() { static StringPub StringNode; ros2::spin(&StringNode); } `platformio.ini` [env:teensy41] platform = teensy board = teensy41 framework = arduino lib_deps = robotis-git/[email protected] https://github.com/ssilverman/QNEthernet.git ``` Any help or guidance would be appreciated.

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