Overview
This chapter provides a number of advanced tutorials for those users who already have some previous micro-ROS knowledge. They are useful to interact with micro-ROS at a deeper level compared with the First Step Tutorials. There is no specific order recommended to take these tutorials, as each addresses a different aspect of the micro-ROS stack and toolchain.
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Optimizing the Middleware Configuration
In this tutorial, we’ll guide you through the configuration of the middleware between a microcontroller and the micro-ROS agent running on some Linux-based microprocessor, to optimize it for your specific use-case and application.
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How to include a custom ROS message in micro-ROS
This tutorial explains how to create or include a custom ROS message type in a micro-ROS application - and in particular how to bring it into the build system.
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How to use custom QoS in micro-ROS
This tutorial explains the procedure for creating micro-ROS entities using fully configurable QoS settings by using the ROS 2 (DDS) entities creation mode by references as allowed by the micro-ROS default middleware (Micro XRCE-DDS Client).
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Creating custom micro-ROS transports
This tutorial aims at providing step-by-step guidance for those users interested in creating micro-ROS custom transports, instead of using the ones provided by default in the micro-ROS tools set.
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Creating custom static micro-ROS library
This tutorial aims at providing step-by-step guidance for those users interested in compiling micro-ROS as a standalone library in order to integrate it in custom development tools.
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Benchmarking with the Shadow-Builder
This tutorial aims at describing a specific benchmarking tooling called the Shadow Builder. More specifically, it explains how to create a plugin from A to Z and how to instrument the code.
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