Hi Brandon,
This sounds like an excellent idea! And I’m looking forward to hearing how this project goes.
We did some work trying to do something similar with Micro-ROS back in June and we concluded the following from our side
- Changing the IP address of the Agent required to reconfigure/rebuild micro-ROS
- The need of the broker (agent) on a fixed IP address (plus previous point) sort of loses the idea of plug and play
- The QoS settings available on the constraint DDS, at the time, were very limited
- There’s only one vendor for the XRCE implementation
Just to point out what were we working with:
- STM32 (different varieties)
- FreeRTOS
- NUTTX (Just to compare)
- Laser scan data
Nonetheless, everything would be possible to be done, we unfortunately just didn’t have the resources to commit to polishing this work better.
A few things more to have in mind.
- It was prior to the Foxy release, we haven’t seen what updates have been made since June.
- We tried to use fastDDS or cycloneDDS, but we would end-up without enough resources on our system. Thus, if you’re on a constraint system, micro-ROS is the way.
- I’d like to add that the micro-ROS developers were very helpful with any of our inquiries.