First Steps Tutorials

Overview First micro-ROS Application on Linux First micro-ROS Application on an RTOS Zephyr Emulator Teensy with Arduino

Programming with rcl and rclc

Overview Nodes Publishers and subscribers Services Parameter server Executor and timers Quality of service micro-ROS utilities

Advanced Tutorials

Overview Middleware Configuration How to include a custom ROS message in micro-ROS Handling messages memory in micro-ROS How to use custom QoS in micro-ROS Creating custom micro-ROS transports Creating custom static micro-ROS library Benchmarking with the Shadow-Builder

Unmaintained Tutorials

Adding Micro-ROS to a NuttX board configuration NSH console over UART & USB 6LoWPAN Guide Debugging a NuttX Application Micro-ROS configuration for NuttX

Demos

Overview Kobuki Demo Crazyflie Demo Time of Flight Sensor Demo OpenManipulator-X Demo Interfacing with FIWARE Context Broker DemoBox Power and Boot Time Thumper, a six-wheeled robot MoveIt 2 Demo Edge Impulse Demo Combined Demos

Overview

In this section, you’ll learn the basics of the micro-ROS C API: rclc.

The major concepts (publishers, subscriptions, services, timers, …) are identical with ROS 2. They even rely on the same implementation, as the micro-ROS C API is based on the ROS 2 client support library (rcl), enriched with a set of convenience functions by the package rclc. That is, rclc does not add a new layer of types on top of rcl (like rclcpp and rclpy do) but only provides functions that ease the programming with the rcl types. New types are introduced only for concepts that are missing in rcl, such as the concept of an executor.

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