This is a micro-ROS library for baremetal projects based on Arduino IDE or Arduino CLI.
As the build process for ROS 2 and micro-ROS is based on custom meta-build system tools and CMake, this library is provided as a precompiled library. However, users can rebuild their own precompiled libraries in order to modify the micro-ROS configuration or RMW parameters by customizing the respective .meta file.
Supported boards are:
| Board | Min version | State | Details | .meta file |
|---|---|---|---|---|
| Arduino Portenta H7 M7 Core | v1.8.5 | Supported | Official Arduino support | colcon.meta |
| Arduino Nano RP2040 Connect | v1.8.5 | Supported | Official Arduino support | colcon_verylowmem.meta |
| OpenCR | v1.4.16 | Supported | Based on custom board | colcon.meta |
| Teensy 4.0 | v1.8.5 | Not tested | Based on Teensyduino (1.58.x) | colcon.meta |
| Teensy 4.1 | v1.8.5 | Supported | Based on Teensyduino (1.58.x) | colcon.meta |
| Teensy 3.2/3.1 | v1.8.5 | Supported | Based on Teensyduino (1.58.x) | colcon_lowmem.meta |
| Teensy 3.5 | v1.8.5 | Not tested | Based on Teensyduino (1.58.x) | colcon_lowmem.meta |
| Teensy 3.6 | v1.8.5 | Supported | Based on Teensyduino (1.58.x) | colcon_lowmem.meta |
| ESP32 Dev Module | v1.8.5 | Supported | Arduino core for the ESP32 (v2.0.2) | colcon.meta |
Community contributed boards are:
| Board | Min version | Contributor | Details | .meta file |
|---|---|---|---|---|
| Arduino Due | - | @lukicdarkoo | colcon_verylowmem.meta |
|
| Arduino Zero | - | @lukicdarkoo | colcon_verylowmem.meta |
|
| Kakute F7 | - | @amfern | colcon.meta |
|
| STM32-E407 | - | @dominikn | colcon.meta |
|
| Wio Terminal | - | @maehara-keisuke | colcon.meta |
|
| Raspberry Pi Pico | - | @maehara-keisuke | with ESP-AT | colcon_verylowmem.meta |
| Seeed Studio XIAO SAMD21 | - | @maehara-keisuke | with ESP-AT | colcon_verylowmem.meta |
| Seeed Studio XIAO RP2040 | - | @maehara-keisuke | with ESP-AT | colcon_verylowmem.meta |
| Arduino Giga R1 | - | @gbr1 | colcon.meta |
|
| Arduino UNO R4 WiFi | - | @gbr1 | colcon.meta |
|
| Arduino UNO R4 Minima | - | @gbr1 | colcon.meta |
|
| Arduino Opta | - | @gbr1 | colcon.meta |
You can find the available precompiled ROS 2 types for messages and services in available_ros2_types.
Go to link to release section and download the last release of micro-ROS library for Arduino.
Include it in your project using Sketch -> Include library -> Add .ZIP Library...
You can test micro-ROS examples located in this repo examples folder.
Remember that is possible to use a micro-ROS Agent just with this docker command:
# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:jazzy serial --dev [YOUR BOARD PORT] -v6PlatformIO support for this repository has been deprecated in favor of its own build system: micro_ros_platformio
If you need to add custom packages or types, or customize any internal parameter of the micro-ROS stack, you will need to recompile this library from source code:
docker pull microros/micro_ros_static_library_builder:jazzy
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:jazzyOptionally a specific single target can be built using the -p <LIBRARY_TARGET> argument like this:
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:jazzy -p <LIBRARY_TARGET>Available targets LIBRARY_TARGETS are available on the top of the extras/library_generation/library_generation.sh file
Folders added to extras/library_generation/extra_packages and entries added to extras/library_generation/extra_packages/extra_packages.repos will be taken into account by this build system.
This should be used for example when adding custom messages types or custom micro-ROS packages.
You can configure many parameters of the library by editing the respective .meta file in the extras/library_generation/ directory.
Go inside your Arduino + Teensyduino installation and replace platform.txt:
export TEENSYDUINO_VERSION=[Your Teensyduino library version, e.g: 1.58.0]
export ARDUINO_PATH=[Your Arduino + Teensyduino path]
cd $ARDUINO_PATH/hardware/avr/$TEENSYDUINO_VERSION/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_teensy.txt > platform.txtThe patch applies the changes detailed on the first two sections of this post: Solution for adding support for pre-compiled Libraries
Go inside your Arduino installation and replace platform.txt:
export ARDUINO_PATH=[Your Arduino path]
cd $ARDUINO_PATH/hardware/sam/1.6.12/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_arduinocore_sam.txt > platform.txtThis software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.
This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.
For a list of other open-source components included in this repository, see the file 3rd-party-licenses.txt.
- When using provided precompiled libraries, users should take into account the already configured static memory pools in middleware layers. More info here.
- micro-ROS transports should be refactored in order to provide a pluggable mechanisms. Only USB serial transports are provided.
- Teensyduino support files have to be patched in order to use precompiled libraries.
- To solve Python errors on ESP32 compilation:
apt install python-is-python3 && pip3 install pyserial
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