Support for Pico2

[logicraju]

• Hardware description: Pico2
• Version or commit hash: ROS2 Jazzy

Hi,

I tried using this to burn code into Pico2 via platformio. But, doesn't work. Does this repo support Pico2 ?

Regards

[jondurrant]

Yes it works pn Pico 2. I tested it in this video https://youtube.com/shorts/bkmMZlLai3A

[ilisparrow]

Hello,
Thank you for you answer. Your video is a short, and doesn't explain if adaptations are needed.
Does it ?
Thank you in advance.

[jondurrant]

I think I only had to tell the toolchain that I was using a Pico 2. I published and shared my repo with the video.

[Vince-94]

Yes it supports it. After struggling a bit, I've got how it works alongside FreeRTOS. Since it is a custom workspace, it is still brittle. I'll subdivide the guide in stages.

Setup stage:

1. Install common dependencies:

   sudo apt install -y build-essential make cmake g++ gcc-arm-none-eabi binutils-arm-none-eabi doxygen libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib python3 ninja-build git

2. Config arm-none-eabi-gcc

   echo "export PICO_TOOLCHAIN_PATH=/usr" >> /home/$USER/.bashrc

3. Pico SDK:

   git clone --recurse-submodules https://github.com/raspberrypi/pico-sdk.git /home/$USER/pico-sdk
   echo "export PICO_SDK_PATH=/home/$USER/pico-sdk" >> /home/$USER/.bashrc

4. Source: source ~/.bashrc
5. Clone micro_ros_raspberrypi_pico_sdk into your micro-ROS workspace root.

   git clone -b jazzy https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk
   cd micro_ros_raspberrypi_pico_sdk
   mkdir build
   cd build
   cmake ..
   make

6. Update your CMakeLists.txt based on CMakeLists.txt. It is essential linking the libmicroros dir and adding the pico_uart_transport.cto your executable.

Building stage:

cd /path/to/your/package
mkdir -p build
cd build
cmake ..
make

Flashing stage on Pico in BOOTSEL by copying the uf2 file.

Running stage:

1. Power up the pico 2
2. Run the container: ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 115200 -v6
   You could also enter the container interactively in order to run the agent and checking for topics

Notes:

• When running, make sure not to run debugging shells that use the same usb port (/dev/ttyACM0)
• /dev/ttyACM0 can vary
• A bash can automatize the setup (even a custom container)
• I've omitted the FreeRTOS configuration for simplicity