ros2-microros

# micro-ROS Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy) ## 1. Architecture micro-ROS connects constrained MCUs (STM32, ESP32, FreeRTOS, Zephyr) to the ROS 2 DDS graph via `micro_ros_agent` + the `rclc` client library over Micro XRCE-DDS. Static memory pools (`rmw_microxrcedds`) give zero steady-state heap allocation when `RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS=OFF`. ## 2. Documentation Entry Points | For | Entry point | | :--- | :--- | | Tutorials, supported boards, transports | `https://micro.ros.org/` | | Firmware build system (`micro_ros_setup`) | `https://github.com/micro-ROS/micro_ros_setup` | | `rclc` executor / node API source | `https://github.com/ros2/rclc` | ## 3. Key Concepts & Patterns ### A. Embedded Client Node Setup (`rclc` in C) ```c #include <rcl/rcl.h> #include <rclc/rclc.h> #include <rclc/executor.h> #include <std_msgs/msg/int32.h> int main(void) { rcl_allocator_t allocator = rcl_get_default_allocator(); rclc_support_t support = {0}; rcl_node_t node = {0}; rcl_publisher_t pub = {0}; rclc_support_init(&support, 0, NULL, &allocator); rclc_node_init_default(&node, "mcu_node", "", &support); rclc_publisher_init_default(&pub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "chatter"); // Clean up rcl_publisher_fini(&pub, &node); rcl_node_fini(&node); rclc_support_fini(&support); return 0; } ``` ### B. Micro-ROS Agent Execution ```bash # Serial Transport (e.g. UART to USB) ros2 run micro_ros_agent micro_ros_agent serial ...