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

How to build the precompiled library

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

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/foxy/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/foxy/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.