ykevin / micro_ros_arduino

micro-ROS library for Arduino

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micro-ROS for Arduino

This is a experimental 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. Anyways, users can rebuild its own precompiled libraries in order to modify micro-ROS parameters, for example customizing prebuild meta file.

Supported boards are:

Board Min version State Details Prebuild meta
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

Community contributed boards are:

Board Min version Contributor Details Prebuild meta
Arduino Due - @lukicdarkoo colcon_verylowmem.meta
Arduino Zero - @lukicdarkoo colcon_verylowmem.meta

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

How to use the precompiled library

Go to link to release section and download the last release of micro-ROS library for Arduino.

Include it in your proyect using Sketch -> Include library -> Add .ZIP Library...

You can test micro-ROS examples located in this repo examples folder.

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

How to build the precompiled library

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

Note that 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.

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/galactic/extras/patching_boards/platform_teensy.txt > platform.txt

Patch SAMD

Go inside your Arduino + Teensyduino 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/galactic/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 mechanims. Only USB serial transports are provided.
  • Teensyduino support files have to be patched in order to use precompiled libraries.

About

micro-ROS library for Arduino

License:Apache License 2.0


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