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.

micro-ROS for Arduino

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 (1.58.x)	`colcon.meta`
Teensy 4.1	v1.8.5	Supported	Based on Teensyduino (1.58.x)	`colcon.meta`
Teensy 3.2/3.1	v1.8.5	Supported	Based on Teensyduino (1.58.x)	`colcon_lowmem.meta`
Teensy 3.5	v1.8.5	Not tested	Based on Teensyduino (1.58.x)	`colcon_lowmem.meta`
Teensy 3.6	v1.8.5	Supported	Based on Teensyduino (1.58.x)	`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`
Wio Terminal	-	@maehara-keisuke		`colcon.meta`
Raspberry Pi Pico	-	@maehara-keisuke	with ESP-AT	`colcon_verylowmem.meta`
Seeed Studio XIAO SAMD21	-	@maehara-keisuke	with ESP-AT	`colcon_verylowmem.meta`
Seeed Studio XIAO RP2040	-	@maehara-keisuke	with ESP-AT	`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

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

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:iron -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 TEENSYDUINO_VERSION=[Your Teensyduino library version, e.g: 1.58.0]
export ARDUINO_PATH=[Your Arduino + Teensyduino path]
cd $ARDUINO_PATH/hardware/avr/$TEENSYDUINO_VERSION/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/iron/extras/patching_boards/platform_teensy.txt > platform.txt

The patch applies the changes detailed on the first two sections of this post: Solution for adding support for pre-compiled Libraries

Patch SAM

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/iron/extras/patching_boards/platform_arduinocore_sam.txt > platform.txt

Custom Messages in MicroROS

You can find detailed information on creating custom messages in MicroROS here

This is a stepwise procedure to make changes in the arduino library:

1. Make `library_generation.sh` Executable

cd ~/Arduino/libraries/micro_ros_arduino-2.0.5-iron/extras/library_generation
chmod +x library_generation.sh

2. Pull Docker Image for Library Building

cd ~/Arduino/libraries/micro_ros_arduino-2.0.5-iron
docker pull microros/micro_ros_static_library_builder:iron

3. Access Extra Packages Directory

cd ~/Arduino/libraries/micro_ros_arduino-2.0.5-ironextras/library_generation/extra_packages/

4. Create a New Package for Custom Interface

ros2 pkg create --build-type ament_cmake my_custom_message
cd my_custom_message
mkdir msg
touch msg/MyCustomMessage.msg

5. Update `CMakeLists.txt` for Message Generation

Open CMakeLists.txt in the newly created package and add the following lines just before ament_package():

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/MyCustomMessage.msg"
)

6. Define Custom Message Content

Note

Edit msg/MyCustomMessage.msg with the desired message content. Ensure the message type name does not contain uppercase letters.

7. Update `package.xml`

Add the following lines to package.xml:

<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>

8. Rebuild Libraries

cd ~/Arduino/libraries/micro_ros_arduino-2.0.5-iron
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:iron -p esp32

Increase the number of Publishers and Subscribers Limit

You can find detailed information on creating custom messages in MicroROS here

This is a stepwise procedure to make changes in the arduino library:

1. Adjust Parameters in `colcon.meta`

Open ~/Arduino/libraries/micro_ros_arduino-2.0.5-iron/extras/library_generation/colcon.meta and locate the section:

"rmw_microxrcedds": {
    "cmake-args": [
        "-DRMW_UXRCE_MAX_NODES=1",
        "-DRMW_UXRCE_MAX_PUBLISHERS=5",
        "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
        "-DRMW_UXRCE_MAX_SERVICES=1",
        "-DRMW_UXRCE_MAX_CLIENTS=1",
        "-DRMW_UXRCE_MAX_HISTORY=4",
        "-DRMW_UXRCE_TRANSPORT=custom"
    ]
}

Modify the parameters as needed.

2. Rebuild Libraries

cd ~/Arduino/libraries/micro_ros_arduino-2.0.5-iron
docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=extras microros/micro_ros_static_library_builder:iron -p esp32

Supported Boards and Corresponding Meta Files

Board	.meta file
Arduino Portenta H7 M7 Core	`colcon.meta`
Arduino Nano RP2040 Connect	`colcon_verylowmem.meta`
OpenCR	`colcon.meta`
Teensy 4.0	`colcon.meta`
Teensy 4.1	`colcon.meta`
Teensy 3.2/3.1	`colcon_lowmem.meta`
Teensy 3.5	`colcon_lowmem.meta`
Teensy 3.6	`colcon_lowmem.meta`
ESP32 Dev Module	`colcon.meta`

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

Name		Name	Last commit message	Last commit date
Latest commit History 643 Commits
.github		.github
.images		.images
examples		examples
extras		extras
src		src
.gitignore		.gitignore
3rd-party-licenses.txt		3rd-party-licenses.txt
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
NOTICE		NOTICE
README.md		README.md
available_ros2_types		available_ros2_types
built_packages		built_packages
library.properties		library.properties

License

kartiksoni01/micro_ros_arduino

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micro-ROS for Arduino

Supported boards

How to use the precompiled library

Arduino IDE

PlatformIO

How to build the precompiled library

Patch Arduino board for support precompiled libraries

Patch Teensyduino

Patch SAM

Custom Messages in MicroROS

1. Make library_generation.sh Executable

2. Pull Docker Image for Library Building

3. Access Extra Packages Directory

4. Create a New Package for Custom Interface

5. Update CMakeLists.txt for Message Generation

6. Define Custom Message Content

7. Update package.xml

8. Rebuild Libraries

Increase the number of Publishers and Subscribers Limit

1. Adjust Parameters in colcon.meta

2. Rebuild Libraries

Supported Boards and Corresponding Meta Files

Purpose of the Project

License

Known Issues/Limitations

About

Resources

License

Stars

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1. Make `library_generation.sh` Executable

5. Update `CMakeLists.txt` for Message Generation

7. Update `package.xml`

1. Adjust Parameters in `colcon.meta`