micro-ROS aims to bring ROS 2 to microcontrollers to allow having first-class ROS 2 entities in the embedded world.
One of the approaches offered by micro-ROS to build an application for embedded platforms consists in a ROS-specific build system comprising modules which integrate the software for cross-compiling said apps on the supported plaforms, both hardware and firmware-wise. A different approach consists in generating standalone modules and components allowing to integrate micro-ROS into external or custom development frameworks, made possible by a tool dedicated to compiling micro-ROS as a standalone library.
The configuration of the generated micro-ROS libraries is based on a colcon.meta file.
The modules that exist up to date for integrating into external build systems are the following:
Vulcanexus micro-ROS element
Vulcanexus is an all-in-one ROS 2 tool set for easy and customized robotics development. It offers natively integrated solutions for ROS 2 networks in terms of performance improvement, simulation, cloud/edge communication, and microcontroller integration. The latter relies on micro-ROS. Vulcanexus is free and open source, and available as a Docker image for Humble and Iron. All components enjoy continuous updates so users benefit from the latest features at all times.
micro-ROS component for the ESP-IDF
ESP-IDF is the official development framework for the ESP32, ESP32-S and ESP32-C Series SoCs.
To date, it has been tested in ESP-IDF v4.1 and v4.2 with ESP32 and ESP32-S2.
The
micro-ROS component for the ESP-IDF allows the user to integrate the micro-ROS API and utilities in an already created ESP-IDF project just by cloning or copying a folder.
The current ports support
Serial (UART),
WiFi, and
Ethernet.
Resources:
micro-ROS module for the Zephyr build system
Zephyr is a scalable RTOS built with security in mind, and based on a small-footprint kernel designed for use on resource-constrained systems.
The Zephyr kernel supports multiple hardware architectures, including ARM Cortex-M, Intel x86, ARC, Nios II, Tensilica Xtensa, and RISC-V, and can count with
large number of supported boards.
The
micro-ROS module for Zephyr allows to integrate the micro-ROS API and utilities in an existing Zephyr-based project just by cloning or copying a folder.
Resources:
micro-ROS for Arduino
Arduino is an open-source platform based on an I/O board and a development environment that implements the Processing/Wiring language, intended to enable users to easily generate interactive projects. A CLI is also offered, which aims to be an all-in-one solution providing the tools needed to use any Arduino compatible platform from the command line.
The
micro-ROS for Arduino support package is a special
bare-metal port of micro-ROS provided as a set of precompiled libraries for specific platforms.
Resources:
micro-ROS for STM32CubeMX
The STM32CubeMX is a graphical tool by ST for configuring STM32 microcontrollers and microprocessors. It enables to optimally program and manipulate the software thanks to a set of utilities that help setting up pinouts, peripherals, and middleware stacks.
micro-ROS for STM32CubeMX is based on a
Dockerfile and allows micro-ROS to be virtually supported by the full set of boards offered by
STMicroelectronics, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
Resources:
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