Unable to synchronize time between micro ros and ros2

[flux0-0]

This is my code " https://github.com/flux0-0/test_microros_time/blob/main/main.cpp " . If I upload it to Esp32, I don't see anything printed in the serial. This is my ini file " [env:esp32doit-devkit-v1]
platform = [email protected]
board = esp32doit-devkit-v1
framework = arduino

monitor_speed = 115200
monitor_rts = 0
monitor_dtr = 0
monitor_port = /dev/ttyUSB0

board_microros_distro = humble
board_microros_transport = wifi
lib_deps =
https://github.com/micro-ROS/micro_ros_platformio
paulstoffregen/Time@^1.6 "

[hippo5329]

"About UART1 (GPIO 9 and GPIO10) – these GPIOs are connected to the ESP32 SPI flash memory, so you can’t use them like that. To use UART1 to communicate with other devices, you must define different pins using the HardwareSerial library. "

https://randomnerdtutorials.com/esp32-uart-communication-serial-arduino/

[flux0-0]

Tks, I have tried a lot but I failed. Can you give me an example code about synchronous time in micro ros and ros2 with framework adruino ?

[hippo5329]

Please check this,

https://github.com/hippo5329/linorobot2_hardware/blob/master/firmware/src/firmware.cpp#L246

[flux0-0]

I've read and followed, but it seems my counter always starts at 0. This is my code "https://github.com/flux0-0/test_microros_time/blob/main/main.cpp" I hope you will read and help me point out any errors!

[hippo5329]

There are a lot of things to learn. Coding, debugging, micro-ros re-connection, timer..etc. It takes time to learn. No short-cut. I would suggest follow the wiki and try out.

https://github.com/hippo5329/linorobot2_hardware/wiki

[hippo5329]

You can try out with a bare esp32. No real robot or sensor is needed.

Then start over with the re-connection example. Change the message to a dummy stamped one. The add time sync. Do these step by step.

[flux0-0]

Thanks for your help, I fixed it successfully