Check out micro-ROS’ cool new features and a fresh new tutorial, all come out of our recent hard work:
Continuous fragment mode - With this feature micro-ROS exposes a brand new interface for sending heavy messages on the run, that is, without the need to store the whole information (often too big for the typical MCUs storage capacity) before publishing it.
Refactorization of external transports - This refactorization delivers a whole new approach to external transports, aimed at abstracting the library from the underlying OS as much as possible. It:
- Isolates the XRCE framing code to be used in any transport
- Renames the framing code from SerialIO to FramingIO
- Adds a new profile for Custom transports where users can set open/close/read/write callbacks for transports at runtime, and which can be configured to use FramingIO.
Client-to-Agent ping mechanism - This mechanism enables the Clients to check on the availability of an up-and-running Agent (aka “ping” it) before even establishing a session.
We have been working on a brand new tutorial to guide users creating a custom static library to integrate micro-ROS in their own toolchains and development tools. Find it here!
The new features will be officially integrated into the stable micro-ROS Galactic release expected by May. Meanwhile, find them in the Rolling branch!