Local Lizard Firmware Setup

Lizard firmware is developed and built in a separate checkout. This ROS repository intentionally contains no Lizard source tree or symlink under src/.

Checkout

Clone Lizard outside this repository, for example beside it in your workspace:

git clone https://github.com/Agroecology-Lab/lizard.git ../lizard
cd ../lizard
git checkout 87ab4e198d3af2a274e60292ee204b722f939b5e
git submodule update --init --recursive

The revision matches the LIZARD_COMMIT used by this repository’s Docker image. Use another revision only when the firmware and ROS integration are intentionally being updated together.

Build and flash

Follow the Lizard repository’s build instructions from that external checkout. They build ESP32-S3 firmware with the espressif/idf:v5.3.1 container.

After a successful build, flash the connected controller from the Lizard checkout:

sudo ./espresso.py flash --device /dev/ttyACM0

Replace /dev/ttyACM0 with the controller’s serial device. The serial device must not be in use by a ROS driver or monitor while flashing.

Do not copy the Lizard checkout or its generated build/ directory into this repository.