ROS2 on microcontrollers with RIOT

Next Generation ROS
20

Hello !

I’m here to bring some news of the project :

  • The version of RIOT used have been updated, enabling the support of new boards and features.
  • I have implemented rmw_ndn for the “real” ROS2 stack, so that it can be chosen in place of the default rmw_fastrtps. Here is the repository.
  • This new implementation is more advanced than the one based on ndn-riot. For instance, it supports pub/sub with multiple publishers (multiple subscribers was already supported) and discovery.
  • I have managed to make the two stacks (RIOT-ROS2 and ROS2 with rmw_ndn) communicate with eachother.

Also, with the contribution of @vmayoral :

  • A proof-of concept port of ROS2 for NuttX is developped.
  • A docker for compiling the project is provided.

Here is the updated roadmap :

  • rclc still need to be completed
  • the implementation of pub/sub and discovery need to be stabilized, and ported to microcontrollers
  • services implementation needs to be done
  • starting an Arduino port ? Did I say Arduino ?

Cheers !

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