ROS 2 + micro-ROS:

Jetson Orin Nano, ZED2i, and ESP32 Integration

This repository documents my work integrating ROS 2 with micro-ROS, connecting a Jetson Orin Nano, a ZED2i stereo camera, and multiple ESP32 microcontrollers to build a distributed robotic system. The setup enables real-time data publishing and subscribing between edge AI devices and embedded systems.

Project Overview

Goals:

Use the ZED2i camera on Jetson Orin Nano to compute angle and velocity data.

Publish this data from Jetson using a ROS 2 node.

Subscribe to the data on the ESP32 using micro-ROS and take action accordingly.

Display received data on a 16x2 I2C LCD and over Serial1.

Use a second ESP32 node to control motors (e.g., Neo V1.1 with encoders) based on received commands.

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System Architecture; Jetson Orin Nano ROS 2 Humble Custom node (zed2i_publish) reads data from ZED2i and publishes: angle (float) velocity (float)

Topics: /zed2i/angle /zed2i/velocity ESP32 (micro-ROS client) micro-ROS Arduino library

Subscribes to: /zed2i/angle → Controls motor to desired angle /zed2i/velocity → For motion profiling

Displays values on: 16x2 LCD via I2C