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micro-ROS example for Mbed RTOS [EXPERIMENTAL]

This code has been tested in Mbed v6.8, Mbed v6.9 and Mbed v6.10, with ST B-L475E-IOT01A Discovery kit.

Dependencies

If you do not have an ARM compiler you will need to install one:

sudo apt install gcc-arm-none-eabi

Make sure you have all the mbed prerequisite software installed on your computer.

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

sudo apt install python3-pip ninja-build
pip3 install catkin_pkg lark-parser empy colcon-common-extensions mbed-tools

These are optional:

pip3 install prettytable future jinja2 intelhex

Add packages

Custom packages inside of the extra_packages folder will be included on the micro-ROS library build. This allows the use of custom messages or other ROS packages.

To rebuild the microros lib after including new packages, you can run make -f libmicroros.mk clean before mbed-tools compile

Example

In order to test a int32_publisher example:

mbed-tools deploy
mbed-tools compile -m DISCO_L475VG_IOT01A -t GCC_ARM -f

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

# Serial micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:rolling serial --dev [PORT] -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.