Running the micro-ROS Agent (Host)

The agent bridges XRCE-DDS (UDP) from the STM32 to ROS 2 DDS on the host.

Via Docker (recommended)

docker run -it --rm \
  --net=host \
  microros/micro-ros-agent:humble \
  udp4 --port 8888

Via docker-compose (microk3 stack)

The microk3/docker-compose.yml includes the agent as a service. Run:

cd microrosWs/microk3
docker-compose up

Network Requirements

Item	Value
Agent IP	192.168.50.1
Agent port	8888 (UDP)
STM32 IP	192.168.50.2
Subnet	192.168.50.0/24

In Renode/TAP mode the subnet shifts to 192.168.50.0/24 via environment variable TAP_GATEWAY_CIDR.