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Future for ROS2Arduino?

I’d like an easy way into microros. This project looks promising GitHub - shirokunet/ros2_esp32bot: Simple ESP32 bot for connecting ROS2

But I noticed that GitHub - ROBOTIS-GIT/ros2arduino: This library helps the Arduino board communicate with the ROS2 using XRCE-DDS. hasn’t been updated in ages and is still recommending Micro-XRCE-DDS Agent 0.2.1 & Dashing.

I opened a ticket to enquire about plans for Foxy, but I await a response: Foxy support? · Issue #70 · ROBOTIS-GIT/ros2arduino · GitHub

Is the ROS2Arduino effectively abandoned? If so what’s the best alternative? I’m reluctant to use FreeRTOS as it seems that there would be little existing example code for me to use.

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I can’t speak to ros2arduino but all of the cool kids are using microROS.


Thanks, so I should be able to run GitHub - micro-ROS/micro_ros_arduino: micro-ROS library for Arduino on an ESp32? Even though it’s not officially supported?

Ostensibly there is ESP32 support for micro-ROS. I am not super familiar with micro_ros_arduino but it appears to be just microROS examples packaged to play nicely with the Arduino IDE. I believe, but I am no expert, that getting the ESP32 supported in Arduino IDE involves just compiling the libraries and putting them in a particular directory structure. You could try your hand at doing it yourself. Alternatively, you could ask one of the package maintainers nicely for support, either in this thread or via a github issue.


Hi, @samuk
I have posted an example of combining arduino functionality with micro-ROS in Foxy here.
The target board is the M5Stack, but I think it might be useful information for the ESP32 as well.
Please refer to it if you like.

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If you want to use micro-ROS with ESP32 and use ESP-IDF tooling, IMO the most comprehensive option is micro_ros_espidf_component.


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