micro-ROS

A framework that brings ROS 2 onto microcontrollers.

micro-ROS is an open-source framework that lets even microcontrollers (chips with only tens to hundreds of kilobytes of memory) join a ROS 2 system, originating from an EU-funded project with contributions from eProsima, Bosch, and others, now maintained by an official ROS working group. A microcontroller can't run a full DDS communication middleware, so micro-ROS substitutes the lightweight Micro XRCE-DDS instead, running on real-time operating systems such as FreeRTOS or Zephyr, and connecting over a serial port or UDP to an Agent running on a host computer, which forwards its traffic into standard ROS 2 topics. That lets a motor driver board or sensor board publish and subscribe to topics directly, without the need to hand-write a serial protocol.

ExampleRunning micro-ROS on an ESP32 publishes IMU data as a ROS 2 topic, which a node on a computer can subscribe to directly.

Related

ROS 2 · Microcontroller Unit (MCU) · FreeRTOS · Data Distribution Service (DDS) · Lower-level Controller (Slave Computer)

Sources

micro-ROS 官网 (Chinese)