This ROS 2 package is the entry point for building micro-ROS apps for different embedded platforms.

• Supported platforms
  • Standalone build system tools
• Dependencies
• Quick start
• Building
  • Creating micro-ROS firmware
  • Configuring micro-ROS firmware
  • Building micro-ROS firmware
  • Flashing micro-ROS firmware
• Building micro-ROS-Agent
• Contributing
• Purpose of the Project
• License
• Known Issues / Limitations
• Papers

Supported platforms

This package provides tools and utils to crosscompile micro-ROS with just the common ROS 2 tools for the following platforms.

Note that this package provides basic support only, intended in particular for ROS developers who are new to microcontrollers. Micro-ROS components for each platform are available and provide a deeper and more flexible integration with the platform-specific build systems.

¹ Community supported, may have lack of official support

² Support for compiling apps in a native Linux host for testing and debugging

³ a valid CMake toolchain with custom crosscompilation definition is required

Standalone build system tools

micro_ros_setup provides access to standalone build system tools using the component command. After building this package just run:

ros2 run micro_ros_setup component --help

micro-ROS standalone module for specific platforms are:

• a standalone micro-ROS component for Renesas e2 studio and RA6M5: this package enables the integration of micro-ROS in Renesas e2 studio and RA6M5 MCU family.
• a standalone micro-ROS component for ESP-IDF: this package enables the integration of micro-ROS in any Espressif ESP32 IDF project.
• a standalone micro-ROS module for Zephyr RTOS: this package enables the integration of micro-ROS in any Zephyr RTOS workspace.
• a standalone micro-ROS module for Mbed RTOS: this package enables the integration of micro-ROS in any Mbed RTOS workspace.
• a standalone micro-ROS module for NuttX RTOS: this package enables the integration of micro-ROS in any NuttX RTOS workspace.
• a standalone micro-ROS module for Microsoft Azure RTOS: this package enables the integration of micro-ROS in a Microsoft Azure RTOS workspace.
• a standalone micro-ROS module for RT-Thread RTOS: this package enables the integration of micro-ROS in a RT-Thread workspace.
• a standalone micro-ROS app for TI Tiva™ C Series: this package enables the integration of micro-ROS in a exas Instruments Tiva™ C Series.
• a set of micro-ROS utils for STM32CubeMX and STM32CubeIDE: this package enables the integration of micro-ROS in STM32CubeMX and STM32CubeIDE.
• a library builder for PlatformIO: this package enables the integration of micro-ROS in PlatformIO.
• a precompiled set of Arduino IDE libraries: this package enables the integration of micro-ROS in the Arduino IDE for some hardware platforms.
• a precompiled set of Raspberry Pi Pico SDK libraries: this package enables the integration of micro-ROS in the Raspberry Pi Pico SDK.

Dependencies

This package targets the ROS 2 installation. ROS 2 supported distributions are:

Some other prerequisites needed for building a firmware using this package are:

sudo apt install python3-rosdep

Building for Android needs Latest Android NDK to be installed and the following environment variables to be set:

ANDROID_ABI : CPU variant, refer here for details.

• ANDROID_NATIVE_API_LEVEL : Android platform version, refer here for details.

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Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the system_modes development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using a modified Developer Certificate of Origin (DCO; from [OSDL][DCO]) and Signed-off-by tags initially developed by the Linux kernel project.

system_modes Developer's Certificate of Origin.  Version 1.0

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the "Apache License, Version 2.0"
    ("Apache-2.0"); or

(b) The contribution is based upon previous work that is covered by
    an appropriate open source license and I have the right under
    that license to submit that work with modifications, whether
    created in whole or in part by me, under the Apache-2.0 license;
    or

(c) The contribution was provided directly to me by some other
    person who certified (a) or (b) and I have not modified it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    metadata and personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project and the requirements of the Apache-2.0
    license or any open source license(s) involved, where they are
    relevant.

(e) I am granting the contribution to this project under the terms of
    Apache-2.0.

    http://www.apache.org/licenses/LICENSE-2.0

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above system_modes Developer’s Certificate of Origin 1.0 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see [SubmittingPatches][] which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to system_modes on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project’s list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to system_modes on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project’s DCO’s clause “(c) The contribution was provided directly to me by some other person who certified

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