Kaiwalya Belsare, Antonio Cuadros Rodriguez, Pablo Garrido Sánchez, Juanjo Hierro, Tomasz Kołcon, Ralph Lange, Ingo Lütkebohle, Alexandre Malki, Jaime Martin Losa, Francisco Melendez, Maria Merlan Rodriguez, Arne Nordmann, Jan Staschulat, and Julian von Mendel: Micro-ROS. In: Anis Koubaa (ed.) Robot Operating System (ROS): The Complete Reference (Volume 7), Springer International Publishing, pp. 3–55, 2023.
A reading sample is available on Google Books.
]]>The core is based on ROS 2 with all its benefits and features, and Fast DDS, the fixed middleware implementation that ensures stable communication. Together with a variety of integrated components, users can benefit from this All-in-One ROS 2 tool set and find solutions for data monitoring, robotic simulation, and deployment of DDS entities in the cloud, and microcontrollers. The latter is made possible by the native integration of micro-ROS.
Thanks to this exclusive set of elements, Vulcanexus makes robotic application development easy and personalized. Furthermore, users will benefit from the latest features of all the components as Vulcanexus is updated continuously.
This 360º solution is free and can be downloaded comfortably as a Docker image from Vulcanexus.org.
]]>First and foremost, micro-ROS was able to drastically improve its overall performance, making the framework less memory-hungry, more reliable, more multi-thread capable and real-time ready.
Other features included are:
Find more technical information in the micro-ROS Humble release notes
]]>Therefore, the full integration with all ROS 2-based interfaces can be achieved from the plain C micro-ROS API. Also, it provides specific features such as a real time executor or static memory handling.
The RCLC Actions Implementation in micro-ROS supports most of the well-known features of actions like goal requests, goal cancels, feedback and so on. All of them use the dynamic-memory-free micro-ROS usual approach.
They will be included in RCLC Rolling release v3.0.5
]]>Jan’s slides can be downloaded here. All information and the videos and slides of the other talks of the workshop can be found at www.apex.ai/roscon-21.
]]>Middleware implementations such as embeddedRTPS, bring the possibility of using RTPS communication layers on mid to high range MCU with networking capabilities.
Thanks to the layer to layer compatibility of micro-ROS with the ROS 2 architecture, testing those new middlewares is just a matter of writing a new RMW implementation. As well as making some porting adjustments due to the embedded nature of micro-ROS.
From the eProsima’s micro-ROS team we want to provide the same features to the official ROS 2 embedded solution.
So, we have created a basic rmw_embeddedrtps for micro-ROS, that, although it is not complete, allows the basic functionality of publishing, subscribing and using ROS 2 services. All of this using the well-known micro-ROS C99 API: rclc.
micro-ROS can be compiled either with Micro XRCE-DDS for low-mid MCUs or with embeddedRTPS for larger devices that are used in critical applications. So, the developer can easily choose the preferred middleware for any application.
Watch this video to get the full detail. Get more information here.
]]>This year it consists of a 2-day event in which professionals form all over the world exchange technological insights of the drone sector (14th & 15th of September).
On September 15th, at 11.05am PDT, eProsima Embedded Software Engineer Pablo Garrido, and Nuno Marques, Software Engineer, Systems Integrator and founder of dronesolutions.io, presented “ROS2 and PX4: Technical Details of a Seamless Transition to XRCE-DDS and Micro-ROS”.
The talk covered the basic concepts around the micro-RTPS bridge used to integrate PX4 into the DDS world, and the proposal of using Micro XRCE-DDS and later micro-ROS, focusing on the core concepts and technical details behind the migration. It was followed by a Questions & Answers section.
Check the full video about ROS 2 in PX4.
]]>This achievement brings the following benefits:
Check this video on “Getting started with micro-ROS and Azure RTOS using STMicroelectronics B-L475E-IOT01A” to get the insights and reproduce the integration of micro-ROS in any Azure RTOS supported HW.
Azure RTOS, developed by Microsoft in C, is an embedded development suite including an operating system that provides reliable, ultra-fast performance for resource-constrained devices. Azure RTOS supports the most popular 32-bit microcontrollers and embedded development tools.
]]>Renesas is teaming with eProsima to facilitate the adoption of robotics in the industrial and IoT sectors. Renesas RA6M5 based micro-ROS project is a disruptive solution that provides an Eclipse environment that covers the full development cycle of embedded applications in ROS 2. This will strongly impact on reducing the time-to-market of robotics solutions across many different sectors.
This achievement comes from joint collaboration between Renesas Electronics Corporation (TSE:6723), a premier supplier of advanced semiconductor solutions and eProsima, the middleware expert SME.
The Renesas RA6M5 based micro-ROS project offers HIL (hardware in the loop) testing CD/CI and integration with the e² studio, an Eclipse-based integrated development environment (IDE) that enables developers a professional embedded software environment.
The objective of this HW & SW combo project is to provide a comprehensive tool that covers the full cycle of SW development in embedded systems that target a wide range of applications: Service robots for Logistic & Warehouse, Defense & Security, Agriculture and Healthcare.
eProsima: “Achieving cost-effective development depends on a common platform around which hardware and software providers emerge,” said Jaime Martin Losa, eProsima CEO. “micro-ROS represents the tool that bridges the gap between microcontrollers and ROS 2, expanding the scope of new robotic applications based on embedded devices.”
Renesas: “Robotics is becoming increasingly important as Industry 4.0 and Industrial IoT gain steam,” said Roger Wendelken, Senior Vice President in the IoT and Infrastructure Business Unit at Renesas. “The performance and feature set of the RA Family make it the best choice for robotic applications, and we’re pleased to work with eProsima to deliver solutions to our diverse customer base.”
Learn how to integrate micro-ROS with RA Family in your high-level system with Getting Started Guide and Demo videos.
Source code at GitHub:
The new RCLC QoS API allows users to set custom QoS to better adjust the use cases.
So far, users could only use default or best effort entities. Now, this API allows the user to set a whole rmw_qos_profile_t. All internal QoS available in RMW as well as the entities can be customized to adjust every use case.
The RCLC QoS API applies to all entities.
The new RMW timeout API helps the user to configure the publication time block time when using a reliable mode in micro-ROS. When a topic is published in reliable mode in the RMW of Micro XRCE-DDS, the XRCE-DDS session will be run during a default time-out before sending an error, in order to confirm that the messages arrive to the Agent. This default timeout used to be managed by a buit-time configurable parameter. The new RMW API allows the user to set a specific value for the timeout parameter at run-time for each reliable publisher, meaning before publishing.
This brings advantages:
These enhancements are in line with the strategy of improving usability and scope of micro-ROS. We thank the community and early adopters for their great insights that contribute to enhancing micro-ROS usability and to better focus real use cases.
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