Couple of changes

Author: jkaflik

Makefile

@@ -1,7 +1,7 @@
 REMOTE=omdev.local
 ARTIFACT=build/firmware.elf
 REMOTE_ARTIFACT=/tmp/firmware.elf
-MICRO_ROS_AGENT_IMAGE=omros2firmware:microros
+MICRO_ROS_AGENT_IMAGE=ghcr.io/jkaflik/omros2-firmware:micro-ros
 MICRO_ROS_DEVICE=/dev/ttyAMA0
 
 PHONY: upload
@@ -12,22 +12,10 @@ upload:
 
 PHONY: debug
 debug:
-	@ssh $(REMOTE) bash -s debug < ./utils/remote-openocd.sh
+	@ssh -t $(REMOTE) bash -s debug < ./utils/remote-openocd.sh
 
 agent:
-	@docker run --rm -it \
-		-v /dev:/dev \
-		-e "SERIAL_DEVICE=$(MICRO_ROS_DEVICE)"
-		--network host \
-		--name micro-ros-agent \
-		$(MICRO_ROS_AGENT_IMAGE)
+	@./utils/run-micro-ros-agent.sh 
 
 agent_remote:
-	@./utils/remote-forward-agent-tcp.sh \
-		$(REMOTE) \
-		$(MICRO_ROS_DEVICE) \
-		38123 \
-		docker run --rm -it \
-		--name micro-ros-agent \
-		$(MICRO_ROS_AGENT_IMAGE) \
-		tcp4 $(REMOTE) --port 38123
+	@ssh -t $(REMOTE) bash -s $(MICRO_ROS_DEVICE) < ./utils/run-micro-ros-agent.sh 

README.md

@@ -8,11 +8,29 @@ More details about this firmware can be found in [documentation](https://jkaflik
 ## Features
 
 - [x] ROS2 node using Micro-ROS
+  - [x] Auto-reconnect
+  - [ ] Power-related publishers
+  - [ ] IMU publisher
 - [x] Charging
 - [x] LED status
 - [x] IMU
 - [ ] Emergency mode 
 
+## Usage
+
+### LED Status Indicators
+
+The firmware uses onboard NeoPixel LED(s) to display the current system status. Multiple status conditions can be active simultaneously and will be displayed in sequence.
+
+**LED Status Colors:**
+- **Green**: ROS connected
+- **Yellow**: Battery charging
+- **Magenta**: Battery discharging
+- **Red**: Battery low
+- **Blue**: IMU sensor failure
+
+When multiple statuses are active, each status will be shown for approximately 800ms with a 200ms black separator between them. The sequence will continue to cycle through all active statuses.
+
 ## Build
 
 ### Prepare environment
@@ -44,3 +62,17 @@ platformio run -t upload
 
 Use your IDE integration to debug the code. You can use `pio debug` command as well.
 This will run the same bash script as in the upload command, but it will not upload the firmware. You can use `pio debug -t upload` to upload the firmware and start debugging.
+
+## Micro-ROS agent for testing
+
+You can use the Micro-ROS agent container to test the firmware. To run it a remote RaspberryPi device run the following command: 
+
+```bash
+make agent_remote
+```
+
+If you have an access to the Pico's UART0 directly on your host machine run:
+
+```bash
+make agent MICRO_ROS_DEVICE=/dev/ttyAMA0
+```

utils/remote-forward-agent-tcp.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Default device path
+DEVICE=${1:-/dev/ttyAMA0}
+
+# Check if docker or podman is available
+if command -v podman &>/dev/null; then
+  CONTAINER_ENGINE="podman"
+elif command -v docker &>/dev/null; then
+  CONTAINER_ENGINE="docker"
+else
+  echo "Error: Neither podman nor docker is installed. Please install one of them."
+  exit 1
+fi
+
+echo "Using $CONTAINER_ENGINE with device $DEVICE"
+
+# Run the container with the specified or default device
+sudo $CONTAINER_ENGINE run --rm -it --name micro-ros-agent \
+  --device $DEVICE \
+  ghcr.io/jkaflik/omros2-firmware:micro-ros \
+  serial --dev $DEVICE -b 115200