ESP32-RFID Reading & Publishing Using Micro-ROS in ESP-IDF

This repository demonstrates how to interface an RFID reader with an ESP32-S3 microcontroller and publish the RFID data to ROS2 using Micro-ROS.

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RFID Connection with ESP32-S3

RFID Pin	ESP32-S3 Pin
SDA	GPIO 35
SCLK	GPIO 36
MOSI	GPIO 38
MISO	GPIO 37

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Functionality

1. The ESP32-S3 reads the UID from the RFID module and logs it to the serial monitor.
2. The UID data is published to ROS2 using Micro-ROS with an int32 publisher.

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Publishing to ROS2 with Micro-ROS

To enable communication between the ESP32-S3 and ROS2, Micro-ROS is used. The following command runs the Micro-ROS agent in a Docker container:

docker run -it --rm --ipc host --network host --privileged microros/micro-ros-agent:humble serial -b 12000000 --dev /dev/ttyACM1

Steps to Publish Data:

1. Connect the ESP32-S3 to your computer.
2. Ensure the Micro-ROS agent is running using the command above.
3. Monitor the published data in ROS2.

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Requirements

• ESP-IDF Framework: Install and configure the ESP-IDF for ESP32-S3 development.
• Micro-ROS: Ensure the Micro-ROS library is integrated into the ESP-IDF project.
• Docker: Required to run the Micro-ROS agent.
• ROS2: Installed on the host system (Humble Hawksbill).

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Usage

1. Clone the repository:

   git clone <https://github.com/Chinmay-ESP/RFID-ESP32.git>

2. Initialize and update submodules (if any):

   git submodule update --init --recursive

3. Build and flash the ESP32-S3 project:

   idf.py build
   idf.py flash
   idf.py monitor

4. Run the Micro-ROS agent on the host system (see command above).

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Features

• Real-time RFID data acquisition.
• Seamless integration with ROS2 through Micro-ROS.
• Lightweight and efficient implementation.

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