micro-ROS module for Zephyr

This module has been tested in Zephyr RTOS v4.0.0 (SDK 0.16.9-rc3), and v4.1.0 (SDK 0.16.9-rc3), using a docker image based on zephyrprojectrtos/zephyr-build:v0.26.17.

Dependencies

This component needs colcon and other Python 3 packages in order to build micro-ROS packages:

pip3 install catkin_pkg lark-parser empy colcon-common-extensions

Usage

For example for disco_l475_iot1 board:

west build -b disco_l475_iot1 -p

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 -v /dev:/dev --privileged --net=host microros/micro-ros-agent:jazzy serial --dev [YOUR BOARD PORT] -v6

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:jazzy 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

There are no known limitations.

Changelog for package micro_ros_zephyr

5.0.1 (2024-06-03)

• Bump jazzy (#139)
• Ignore lttngpy (#135)
• Fix of unknown Ringbuffer and not found USB-Serial Device (#125) (#130)
  • Added Ringbuffer-config in prj.conf for eliminating error
  • Added Label CDC_ACM_0 label with an overlay so "modules/libmicroros/microros_transports/serial-usb/microros_transports.c" can find the device
  • Update app.overlay

  * Update app.overlay A fix for backwards compability

  • Update app.overlay
  • Update app.overlay
  • Update prj.conf
  • Better comments
  • Changed settings to conditional from transport choice

  * Update prj.conf Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>> * Update modules/libmicroros/Kconfig Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>> ---------Co-authored-by: scrapforge <<rumpelcode@gmx.de>> Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>> (cherry picked from commit 7c5edcdf9e0a6c6e131d9e45ad357fa0757a5584) Co-authored-by: scrapforge <<99104728+scrapforge@users.noreply.github.com>>

• Update CI with Serial USB build (#126) (#128) (cherry picked from commit e1e23407664625c5cb145c791561007fe6d51df9) Co-authored-by: Pablo Garrido <<pablogs9@gmail.com>>
• Fix Nightly
• Remove micro-ROS fork (#123)
• Contributors: Antonio Cuadros, Pablo Garrido, mergify[bot]

5.0.0 (2023-06-12)

• Update branches to rolling (#121)
• Update rolling sources (#120)
• Fix Zephyr headers for UDP transport (#108) (#114)
• Adjust default_params initialization for cpp compatibility (#107) (#111)
• Ignore test_msgs (#99) (#102)
• Fix headers and timer (#94) (#97)
• transports: add mising version.h to serial-usb transport header (#90) (#91)
• Use ZEPHYR_VERSION_CODE instead of KERNEL_VERSION_MAJOR (#86)
• Fix/zephyr includes (#82) (#85)
• Add rosidl_core (#75)
• Fix nightly (#69) (#71)
• Move support to v2.7.x and v3.1.0 (#64)

4.0.0 (2022-05-25)

• Update banner (#56)
• Merge pull request #54 from micro-ROS/mergify/bp/main/pr-53
• [FIX] pass zephyr MTU config to UClient
• Add logos (#50)
• Fix Rolling includes (#49)
• Fix CI (#46)
• Fix include paths
• Fix include paths (#45)
• Fix example and serial transports (#36) (#39)
• Add typesupport introspection (backport #37) (#38)
• multichange tool (#31) (#33)
• Hotfix: Zephyr gcc typesupport error (#27)
• Update from 2.6.0rc1 to 2.6.0 (#30)
• Add micro_ros_utilities repo (#23)
• Enable introspection (#21)
• Initial changes for Rolling release
• Fix CI (#25)
• Add v2.5/v2.6 (#24)
• Simplify Colcon installation (#19)
• Modify RMW API include (#16)
• Fix RCLC Foxy (#17)
• Update RCLC repo (#15)
• Refactor external transports (#14)
• Add issue template
• Add nightly CI
• Update ci.yml
• Add new micro_ros_msgs repo (#13)
• rclc_executor_set_timeout (#12)
• rework demos (#11)
• Update main.c (#10)
• Remove explicit C++ support (fixes #4) (#9)
• README: Fix docker command for the serial micro-ROS agent (#8)
• Update README.md
• Update README.md
• update ranlib (#3)
• Update README.md
• Update CI (#5)
• Add preliminary CI
• Fix copyright
• Remove sample.yml
• Added license and README
• Updated Kconfig uros params
• Initial
• Initial commit