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

Supported platforms

This package is the official build system for micro-ROS. It provides tools and utils to crosscompile micro-ROS with just the common ROS 2 tools for these platforms:

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 also offers some other ways to crosscompile it for different platforms. These other options are secondary tools and may not have full support for all features. Currently micro-ROS is also available as:

• 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 set of micro-ROS utils for STM32CubeMX and STM32CubeIDE: this package enables the integration of micro-ROS in STM32CubeMX and STM32CubeIDE.
• 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

Quick start

Download here the micro-ROS docker image that contains a pre-installed client and agent as well as some compiled examples.

Building

Create a ROS 2 workspace and build this package for a given ROS 2 distro (see table above):

source /opt/ros/$ROS_DISTRO/setup.bash

mkdir uros_ws && cd uros_ws

git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

rosdep update && rosdep install --from-path src --ignore-src -y

colcon build

source install/local_setup.bash

Once the package is built, the firmware scripts are ready to run.

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