Overview - micro-ROS
This chapter provides a number of tutorials to learn micro-ROS and relevant tools for the different RTOSes supported by micro-ROS. If you are new to micro-ROS, we strongly suggest that you take the tutorials in the following order:
micro-ROS | ROS 2 for microcontrollers
Commercial support. eProsima provides commercial support to boost micro-ROS projects:. Port micro-ROS to your platform (HW, RTOS, transport) Efficient & reliable communication layer between μC and DDS Data Space (ROS 2)
First micro-ROS Application on Linux
In this tutorial, you’ll learn the use of micro-ROS with Linux by testing a Ping Pong application. In the follow-up tutorial First micro-ROS application on an RTOS, you’ll learn how to build and bring this application on a microcontroller running the RTOS NuttX, FreeRTOS, or Zephyr.Finally, in the tutorial Zephyr Emulator you’ll learn how to test a micro-ROS application on a Zephyr emulator.
Teensy with Arduino - micro-ROS
The result should show something like this: This means the installation of the agent is successful. Now we can proceed to the next step which is the installation of Arduino IDE and Teensyduino and patching the Arduino-based Teensy board for using the pre-compiled libraries as described in the micro_ros_arduino repository.. Installation of Arduino IDE, Teensyduino and …
Supported RTOSes - micro-ROS
micro-ROS aims to bring ROS 2 to microcontrollers to allow having first-class ROS 2 entities in the embedded world.. The standard approach to micro-ROS assumes a Real-Time Operating System underneath. Even though recent developments aim at loosening this requirement, with the integration into Arduino IDE as an important step towards true micro-ROS bare-metal support, the RTOS-based support ...
Nodes - micro-ROS
ROS 2 nodes are the main participants on ROS 2 ecosystem. They will communicate between each other using publishers, subscriptions, services, etc.
Executor and timers - micro-ROS
This will deallocate used memory and make the timer invalid. Executor. The rclc Executor provides a C API to manage the execution of subscription and timer callbacks, similar to the rclcpp Executor for C++. The rclc Executor is optimized for resource-constrained devices and provides additional features that allow the manual implementation of deterministic schedules with bounded end-to-end ...
Supported Hardware - micro-ROS
Micro-ROS aims to bring ROS 2 to a wide set of microcontrollers to allow having first-class ROS 2 entities in the embedded world.. The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints.
Features and Architecture - micro-ROS
Micro-ROS is developed by a constantly growing, self-organized community backed by the Embedded Working Group, a formal ROS 2 Working Group. The community shares entry level tutorials, provides support via Slack and GitHub, and meets in public Working Group video-calls on a monthly basis.
micro-ROS Build System
micro-ROS provides two ways of building a micro-ROS application for embedded platforms: micro_ros_setup: integrates and hides the RTOS-specific build tools in few scripts provided as a ROS 2 package. Platform-specific integrations: We have integrated micro-ROS with several platforms build tools. Click here to learn more.