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
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

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_arduino_builder:foxy
docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_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.