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ROS2 Embedded SIG meeting #3

Hi all.

With a bit of delay from the original intention, I am happy to announce that we are planning our third meeting.

We plan to schedule an online community meeting for either the 3rd or 6th of June 2019 at 17:00 CEST (UTC+2h)

The poll for choosing between the 3rd and the 6th will be open till the end of May.

Date poll:

  • 03/06/2019
  • 06/06/2019

0 voters

Like the other meetings, it will take place on Hangouts meet:

Hi all.

These are the meeting details:

When: Monday, 3rd June at 17:00 CEST (UTC+2h).
Where: Google meet:
What: draft agenda

Does anybody have issues with the meeting link?

Is anybody else having issues with the meeting link? I only get an error message.

I cannot join…



Hi Borja, I cannot log in. Is the code valid?

ROS 2 Embedded SIG meeting #3 Agenda & Notes 06/03

03 June 2019 17:00 PM, Hangouts Meet.

New meeting link:


eProsima: Borja Outerelo

Bosch: Ingo Lütkebohle, Ralph Lange, Jan Staschulat

Acutronic Robotics: Iñigo Muguruza Goenaga

Renesas: Max Matsushima

eSOL: Shoji Morita


Kobuki demo presentation.

Present to the SIG the work is done for the Kobuki demo and why RCL directly and Micro XRCE-DDS Agent official package release.

Bosch created an rcl demo on top of well-known Turtlebot 2 robot using rmw_microxrcedds and rclc (WIP in a port to rcl):

Laptop side:

Firmware side:

Video at ROS 2 Dashing Diademata Released!

On-going works:

  • Port from rclc to rcl
  • Adding a laser driver
  • Rework build system (see below).

New Micro XRCE-DDS version (1.1.0) to be released this week, implementing DDS-XRCE 1.0 beta2.

Micro XRCE-DDS Agent package already pushed to be added into ROS2 repos:

Additionally, Acutronic also developed a demo as an example of usage of micro-ROS. It publishes temperature data from an embedded board (Olimex) to a Raspberry Pi.

Decision paper.

Link with the previous point shows the decision document and explain it. Expose the two paths. RCL and RCLCPP.

Integrated build system.

Present build system ideas

Improved compilation times and compilation experience for the user.

Working in an automatic process to generate de microcontroller workspace.

In the next meeting, we will be expecting more updates.

Testing and feedback from the community will be appreciated.

Renesas update GR-ROSE board and Nuttx implementation status

Renesas WIP porting GR-ROSE to NuttX.

eSOL demonstration with GR-ROSE:

Demo system using XRCE-DDS and AWS RoboMaker

Next steps

  • Discuss the first concept for executors on rcl level, link to new Real-Time SIG

  • Who is interested in digging into rclcpp on MCUs?

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