wip

examples/ethernet_pubsub/README.md

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+# micro-ROS Ethernet Publisher/Subscriber Example
+
+This example demonstrates how to create a micro-ROS node on an ESP32 that communicates over Ethernet with a ROS 2 system. The node implements a simple request-response pattern where it listens for names and responds with greetings.
+
+## Overview
+
+The ESP32 node:
+- Subscribes to the topic `micro_ros_name`
+- When it receives a name (e.g., "John"), it publishes "Hello John!" to the topic `micro_ros_response`
+- Uses Ethernet for communication with the ROS 2 system
+- Operates on ROS 2 domain ID 8
+
+## Hardware Requirements
+
+- ESP32 development board
+- LAN8710 or LAN8720 Ethernet PHY module
+- Ethernet cable
+
+### Ethernet PHY Wiring
+
+Connect the LAN8720 module to the ESP32 using the following pins:
+
+| ESP32 GPIO | LAN87XX Pin | Description |
+|------------|-------------|-------------|
+| GPIO 5     | POWER      | PHY Power   |
+| GPIO 23    | MDC        | Clock       |
+| GPIO 18    | MDIO       | Data        |
+| GPIO 17    | Clock      | 50MHz Clock |
+
+## Network Configuration
+
+The example uses the following network configuration (configurable in `main.cpp`):
+
+- ESP32 IP: 10.4.4.177
+- Gateway: 10.4.4.1
+- Netmask: 255.255.255.0
+- Agent IP: 10.4.4.187
+- Agent Port: 8888
+
+## Software Setup
+
+1. Install PlatformIO (if not already installed)
+2. Install Docker and Docker Compose
+3. Clone this repository
+4. Navigate to the example directory:
+   ```bash
+   cd examples/ethernet_pubsub
+   ```
+
+## Building and Flashing
+
+1. Build and flash the firmware:
+   ```bash
+   pio run -t upload
+   ```
+
+2. (Optional) Monitor the serial output:
+   ```bash
+   pio device monitor
+   ```
+
+## Running the micro-ROS Agent and RQT
+
+1. Allow X11 connections from Docker (needed for RQT):
+   ```bash
+   xhost +local:docker
+   ```
+
+2. Start the micro-ROS agent and RQT:
+   ```bash
+   docker compose up
+   ```
+
+This will start:
+- A micro-ROS agent listening on UDP port 8888
+- RQT with proper X11 forwarding for visualization
+
+## Testing the Example
+
+1. In RQT:
+   - Click on Plugins -> Topics -> Message Publisher
+   - Add the topic `/micro_ros_name`
+   - Set the message type to `std_msgs/String`
+   - Enter a name in the `data` field and click the checkbox to publish
+
+2. To view responses:
+   - In RQT, click on Plugins -> Topics -> Topic Monitor
+   - Subscribe to `/micro_ros_response`
+   - You should see responses like "Hello <name>!" when you publish names
+
+## Troubleshooting
+
+- If RQT doesn't appear, ensure X11 forwarding is properly set up with `xhost +local:docker`
+- Check the serial monitor for connection status and debugging information
+- Verify that your network configuration matches the settings in `main.cpp`
+- Ensure all Ethernet pins are properly connected
+
+## Cleaning Up
+
+1. Stop the Docker containers:
+   ```bash
+   docker compose down
+   ```
+
+2. Revoke X11 permissions (optional):
+   ```bash
+   xhost -local:docker
+   ```

examples/ethernet_pubsub/docker-compose.yaml

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+version: "2.1"
+
+services:
+  micro-ros-agent:
+    image: microros/micro-ros-agent:humble
+    container_name: micro-ros-agent
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=8
+    ports:
+      - 8888:8888/udp
+    command: udp4 --port 8888 --verbose 6
+
+  rqt:
+    image: osrf/ros:humble-desktop
+    container_name: rqt-visualizer
+    network_mode: host
+    ipc: host
+    pid: host
+    tty: true
+    privileged: true
+    device_cgroup_rules:
+      - 'c 189:* rmw'
+    environment:
+      - ROS_DOMAIN_ID=8
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    command: bash -c "source /opt/ros/humble/setup.bash && rqt"
+