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Are there any implementations of ROS-2 using DDS ans FreeRTOS on microcontrollers ?

asked 2019-08-13 10:31:13 -0500

fseguin gravatar image

Hi, I'm working on a project that uses a STM32H7 running with a FreeRTOS and ROS-2. I plan to use DDS as a transport layer for messages between the card and a computer using ROS-2 via UDP protocol but I wanted to know first if there are any implementation like this. I thought to use Micro-ROS with the abstract layer but I'm not sure if this is the best solution. Since there are some implementations of micro-ROS on microcontrollers (like on the Kobuki Robot), it seems to be a good solution. I know there is an implementation of Micro-XRCE DDS (one of the DDS library, based especially on embedded support) using a Renesas RX65N with FreeRTOS but without a ROS-2 running on the card. I know also there is an implementation that Loïc Dauphin done without the use of Micro-ROS (no DDS implementation), using RIOT and CBOR protocol.

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The Micro-ROS guys may be able to help you. I think you have a better chance of getting into contact with people by posting this on ROS discourse on either the "Embedded" group or the "Next generation ROS" (better chance with "Embedded" probably). You are talking about such a specific problem that I think it is hard for people here to answer. You could also join the next Embedded WG meeting and ask some questions there. The Micro-ROS guys are generally pretty good at responding on Discourse. If you have already contacted people this way then ignore this comment :P.

MCornelis gravatar image MCornelis  ( 2019-09-23 09:38:41 -0500 )edit

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answered 2021-01-22 04:29:28 -0500

ralph-lange gravatar image

Since last year, micro-ROS supports FreeRTOS (and also Zephyr). Please see for details on the supported hardware and RTOS combinations. On the microcontroller, micro-ROS uses the new XRCE-DDS standard (implemented by eProsima's Micro XRCE-DDS). Please see for details.

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Asked: 2019-08-13 10:31:13 -0500

Seen: 2,952 times

Last updated: Jan 22 '21