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ESP-NOW to ROS2 relay node via serial #618

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opened 2026-03-15 10:02:46 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-15 10:02:46 -04:00
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Create a ROS2 node on the Jetson that reads ESP-NOW messages relayed over USB serial from an ESP32 receiver. The UWB tag broadcasts ESP-NOW packets (RANGE, ESTOP, HEARTBEAT) — an ESP32 connected to the Jetson via USB receives these and forwards over serial. This node: parses the serial ESP-NOW frames, publishes RANGE data as custom UwbRange messages, publishes ESTOP events as std_msgs/Bool on /saltybot/estop, publishes HEARTBEAT status. NOTE: This is ROS2/Jetson side only — do NOT modify any ESP32 firmware.

Create a ROS2 node on the Jetson that reads ESP-NOW messages relayed over USB serial from an ESP32 receiver. The UWB tag broadcasts ESP-NOW packets (RANGE, ESTOP, HEARTBEAT) — an ESP32 connected to the Jetson via USB receives these and forwards over serial. This node: parses the serial ESP-NOW frames, publishes RANGE data as custom UwbRange messages, publishes ESTOP events as std_msgs/Bool on /saltybot/estop, publishes HEARTBEAT status. NOTE: This is ROS2/Jetson side only — do NOT modify any ESP32 firmware.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#618
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