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micro-ROS for Arduino

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

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 colcon.meta
Teensy 4.1 v1.8.5 Supported Based on Teensyduino colcon.meta
Teensy 3.2/3.1 v1.8.5 Supported Based on Teensyduino colcon_lowmem.meta
Teensy 3.5 v1.8.5 Not tested Based on Teensyduino colcon_lowmem.meta
Teensy 3.6 v1.8.5 Supported Based on Teensyduino 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

You can find the available precompiled ROS 2 types for messages and services in available_ros2_types.

How to use the precompiled library

Arduino IDE

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:humble serial --dev [YOUR BOARD PORT] -v6

PlatformIO

PlatformIO support for this repository has been deprecated in favor of its own build system: micro_ros_platformio

How to build the precompiled library

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:humble
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:humble

Optionally 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:humble -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.

Patch Arduino board for support precompiled libraries

Patch Teensyduino

Go inside your Arduino + Teensyduino installation and replace platform.txt:

export ARDUINO_PATH=[Your Arduino + Teensiduino path]
cd $ARDUINO_PATH/hardware/teensy/avr/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_teensy.txt > platform.txt

Patch SAMD

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.txt

Purpose of the Project

This 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.

License

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.

Known Issues/Limitations

  • 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