micro-ROS module for Zephyr

This module has been tested in Zephyr RTOS v2.4.0 and SKD 0.11.4

Dependencies

This module needs colcon in order to build micro-ROS packages:

sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install python3-colcon-common-extensions

Some python3 packages are also required:

pip3 install catkin_pkg lark-parser empy

Usage

For example for disco_l475_iot1 board:

west build -b disco_l475_iot1 micro_ros_zephyr_module

Some configuration parameters can be found using:

west build -t menuconfig
# Modules -> micro-ROS support

Is possible to use a micro-ROS Agent just with this docker command:

# Serial micro-ROS Agent
docker run -it --rm -d /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev [YOUR BOARD PORT] -v6

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:foxy udp4 --port 8888 -v6

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 ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations