TE3001B Actividades del Reto

This repository contains the activities for the TE3001B challenge, along with a submodule referencing the official course material.

Submodule: TE3001B_Intelligent_Robotics_Implementation_2026

The folder TE3001B_Intelligent_Robotics_Implementation_2026 is a git submodule pointing to: https://github.com/ManchesterRoboticsLtd/TE3001B_Intelligent_Robotics_Implementation_2026

First-time setup

After cloning this repository, initialize and pull the submodule:

git submodule update --init --recursive

Workspace: ros2_ws

The ros2_ws directory contains the ROS 2 workspace with packages for the challenge activities.

Micro-ROS Setup

To set up Micro-ROS for ESP32 microcontroller communication, run the automated setup script:

./setup_microros.sh

This script:

• Installs required dependencies (vcstool, rosdep packages)
• Builds the ROS 2 workspace
• Creates and builds the Micro-ROS agent from the submodule
• Configures serial port permissions

For detailed setup instructions, see MICROROS_SETUP.md

Arduino IDE Setup

After setting up the Micro-ROS agent, configure Arduino IDE with Micro-ROS libraries for ESP32:

👉 See ARDUINO_IDE_SETUP.md for complete instructions

Key steps:

1. Install ESP32 board support (version 2.0.17)
2. Add Micro-ROS Arduino library (v2.0.7-humble)
3. Configure serial port permissions
4. Upload sketches to ESP32

Motor Control Package

The ros2_ws/src/motor_control package provides Micro-ROS-based DC motor control:

• Subscribe to /cmd_pwm for motor commands (-255 to +255)
• Publish motor feedback: /motor/rpm, /motor/encoder, /motor/state
• Works with ESP32/Hackerboard + L298N motor driver

Quick usage:

# Upload arduino/motor_node.ino to ESP32 (see ARDUINO_IDE_SETUP.md)
# Start ROS 2 agent and then:
ros2 run motor_control motor_commander -- --pwm 150  # Forward
ros2 run motor_control motor_monitor                  # Monitor feedback

See MOTOR_NODE.md and motor_control README for details.

Updating the submodule to the latest version

Since the course material is updated regularly, follow these steps to pull the latest changes:

1. Enter the submodule directory and fetch + checkout the desired commit:

cd TE3001B_Intelligent_Robotics_Implementation_2026
git fetch origin
git checkout <commit-hash>   # or a branch, e.g. "main"
cd ..

2. Stage the updated submodule reference in this repo:

git add TE3001B_Intelligent_Robotics_Implementation_2026

3. Commit the change:

git commit -m "Update submodule to latest version"

4. Push:

git push

The parent repository only stores a pointer (commit hash) to the submodule. Every time the course material is updated, repeat the steps above to advance that pointer to the new commit.