The micro-ROS stack (micro.ros.org) integrates microcontrollers seamlessly with standard ROS 2 and brings all major ROS concepts such as nodes, publisher, subscriptions, parameters, and lifecycle onto deeply embedded systems. This enables accessing all software using the same ROS tools and APIs, regardless of the underlying computing hardware and operating system. Micro-ROS supports a broad spectrum of microcontroller families and the main open-source real-time operating systems like FreeRTOS, Zepyhr, or NuttX. It supports various microcontroller- or RTOS-specific build systems and provides ROS-CLI-based build tooling. Micro-ROS is an open-source project that has been under development at github.com/micro-ROS since 2018. It was initiated by the EU-funded innovation activity OFERA. During the the last two years, micro-ROS has been adopted by a relevant group of professional users inside the ROS community. In this chapter, we give a technical introduction to the micro-ROS stack including APIs and architecture, as well as the corresponding middleware Micro XRCE-DDS. Furthermore, tutorials for a simple application with an ESP32 microcontroller are provided together with a report on three use-cases from industrial and research applications.
Micro-ROS
Studies Comp.Intelligence
2023-02-02
53 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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