micro-ROS FreeRTOS Apps

This repository contains micro-ROS demos and support code for platforms based on FreeRTOS.

Supported platforms

Supported hardware platforms are:

• Olimex STM32-E407 development board
• Crazyflie 2.1 drone
• ST Nucleo F446ZE (community supported)
• ST Nucleo F746ZG (community supported)
• ESP32

Usage

These applications are integrated within the micro-ROS build system. Please refer to this repository’s documentation for further information about how to configure, build and flash them.

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

freertos_apps is open-sourced under the Apache-2.0 license. See the LICENSE file for details. Amongst others, it includes the following third-party software components:

• Lab Project FreeRTOS POSIX, which is licensed under the MIT license.
• The folders microros_nucleo_f446ze_extensions and microros_olimex_e407_extensions contain code generated by the STM32CubeMX software tool of STMicroelectronics. The generated code is licensed by ST under the Ultimate Liberty license SLA0044. Note that this code “must be used and execute solely and exclusively on or in combination with a microcontroller or microprocessor device manufactured by or for STMicroelectronics”.

For details on all included open source components, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

There are no known limitations.

Changelog for package micro_ros_freertos_apps

5.0.1 (2024-05-31)

5.0.0 (2023-06-06)

4.0.0 (2022-05-25)

• Fix Rolling includes (#102)
• Fix pvPortRealloc (#99) (#100)
• Fix include paths
• Fix include paths (#91)
• Fix Olimex support for UDP (#85) (#86)
• multichange tool (#75) (#77)
• Modify RMW API include (#56)
• add Joint_states_subscriber to apps (#70)
• Auto updates for Olimex STM32CubeMX project (#66)
• Add external transport API (#53)
• Update CF publisher app (#52)
• Update issue templates
• Add support for nucleo F446RE (#46)
• Add port for Nucleo-F767ZI (#44)
• Rework demos (#42)
• Fix build failures caused by rclc macro name change (#36)
• Update sdkconfig.defaults (#29)
• Adding the nucleo f746zg extensions to freertos apps (#32)
• Test atomics (#18)
• Fix spin time (#27)
• Crazyflie dual transports demo app (#4)
• Restructured 3rd-party-licenses.txt and rephrased corresponding section in README.md (#21)
• Added contributors from Bosch to NOTICE file. (#22)
• Update licensing
• Update README.md
• Update licensing (#15)
• ESP32 Wifi (#16)
• Hotfix: remove printf in ping_pong
• support for esp32 (#12)
• Avoid CMake warnings for unused project variables (#14)
• Feature/olimex foxy (#6) (#13)
• Add Nucleo F446ZE port to FreeRTOS_apps (#11)
• Inverted Boolean condition and swapped if-else branches. (#9)
• Merge pull request #8 from alsaibie/dashing
• added guard to prevent dealloc and realloc on null ptr
• Added uors_app_folder to C_includes. Changed uros_app_folder to wildcard in C_sources. (#3)
• Creating a new recconect app and updating CF firmware to newer version (#2)
• Fix Crazyflie app (#1)
• Fix matching pong in ping_pong app
• Renamed folders
• Remove spurious folder
• Update custom to custom serial
• Add Olimex AddTwoInts example
• Best effort sample
• Minor fixes
• Removed client key
• Refactor ping pong app
• Added olimex ping pong
• Added olimex simple publisher
• Expose cross_compile in olimex freertos
• Added demo malaga app
• Update CF21 procedure
• Update Olimex procedure
• Updated CF21
• Olimex FreeRTOS
• Initial commit
• Initial commit