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micro-ROS Galactic

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Discover in this presentation the new features, improvements, and platforms supported in the new micro-ROS release.

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Robotic framework intended to facilitate robotic applications running on MCUs and bring them into ROS 2 micro-ROS Galactic 03/06/2021 Github ROS Discourse
MAIN FEATURES (1/2) Agent multiserial transport Serial micro-ROS Agent allows multiple boards in the same instance 03 Parameter server It allows the ROS 2 parameters to be set in a micro ROS node 01 Static type introspection handler Galactic enables full static memory when using ROS 2 types 02 Continuous fragment mode Big write (+64 kB) tweak 04 Throughput optimization
MAIN FEATURES (2/2) General improvements Client to Agent ping functionality Intra-MCU shared memory transport Time and epoch synchronization with Agent Fully configurable static memory operation 06 Binary entity creation support 04 05 Client multithreading support Optimized ROS 2 entity creation mode Run your micro ROS entities in different RTOS threads
PLATFORMS SUPPORT Teensy 3.2 / 3.5 / 4.1 / 4.2 Arduino Portenta / Nano RP2040 Connect The new Nano RP2040: The first Arduino with Raspberry Pi silicon Mbed RTOS 6.8 / 6.9 / 6.10 OpenCR support Raspberry Pi Pico / Nano RP2040 Connect NuttX 10.0 / 10.1 Zephyr RTOS 2.4 / 2.5 STM32CubeMX & STM32CubeIDE ESP-IDF v4.3 & ESP32-S2/C3
micro-ROS Galactic 03/06/2021

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micro-ROS Galactic

  • 1. Robotic framework intended to facilitate robotic applications running on MCUs and bring them into ROS 2 micro-ROS Galactic 03/06/2021 Github ROS Discourse
  • 2. MAIN FEATURES (1/2) Agent multiserial transport Serial micro-ROS Agent allows multiple boards in the same instance 03 Parameter server It allows the ROS 2 parameters to be set in a micro ROS node 01 Static type introspection handler Galactic enables full static memory when using ROS 2 types 02 Continuous fragment mode Big write (+64 kB) tweak 04 Throughput optimization
  • 3. MAIN FEATURES (2/2) General improvements Client to Agent ping functionality Intra-MCU shared memory transport Time and epoch synchronization with Agent Fully configurable static memory operation 06 Binary entity creation support 04 05 Client multithreading support Optimized ROS 2 entity creation mode Run your micro ROS entities in different RTOS threads
  • 4. PLATFORMS SUPPORT Teensy 3.2 / 3.5 / 4.1 / 4.2 Arduino Portenta / Nano RP2040 Connect The new Nano RP2040: The first Arduino with Raspberry Pi silicon Mbed RTOS 6.8 / 6.9 / 6.10 OpenCR support Raspberry Pi Pico / Nano RP2040 Connect NuttX 10.0 / 10.1 Zephyr RTOS 2.4 / 2.5 STM32CubeMX & STM32CubeIDE ESP-IDF v4.3 & ESP32-S2/C3