State of ROS2 on embedded MCUs

asked 2019-06-23 06:46:37 -0500

Hey All,

I've recently been diving in to the state of ROS2 on embedded microcontrollers (the STM32 family, etc). I'm hoping to play around with getting some devices participating directly in the ROS graph as first-class citizens, rather than writing a host-side 'ros driver' to bridge communication like we've done in the past. This goal includes non-ethernet DDS.

I'm trying to get a handle on what direction the community is currently headed so I can develop towards a common goal. On the one hand, I see several interesting repositories like the following, but they are marked 'archived'. https://github.com/ros2/freertps https://github.com/ros2/ros2_embedded...

Meanwhile, the embedded SIG is all-in on the Micro-ROS project on top of DDS-XRCE. This is a great looking project, but seems to be targeting even lower-level devices than I am, and I'd like to avoid the distributed agent/client idea if possible.

Question is: What's up with the freertps project? Why is it archived? Is there any value in me working on that codebase, or is the community best served if I focus my efforts on Micro-ROS?

Thanks! Sean

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