下载并编译 Agent

shell
mkdir -p microros_ws/src
cd microros_ws/src
git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b ${ROS_DISTRO}
git clone https://github.com/micro-ROS/micro_ros_msgs.git -b ${ROS_DISTRO}
cd ..
colcon build --symlink-install

运行 Agent

shell
source install/local_setup.bash

# UDPv4 micro-ROS Agent
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6

# Serial micro-ROS Agent
ros2 run micro_ros_agent micro_ros_agent serial --dev [YOUR BOARD PORT] -v6
ros2 run micro_ros_agent micro_ros_agent serial -b 921600 --dev /dev/ttyUSB0 -v

# TCPv4 micro-ROS Agent
ros2 run micro_ros_agent micro_ros_agent tcp4 --port 8888 -v6

# CAN-FD micro-ROS Agent
ros2 run micro_ros_agent micro_ros_agent canfd --dev [YOUR CAN INTERFACE] -v6