micro-ROS module for Zephyr

This module has been tested in Zephyr RTOS v4.0.0 (SDK 0.16.9-rc3), and v4.1.0 (SDK 0.16.9-rc3), using a docker image based on zephyrprojectrtos/zephyr-build:v0.26.17.

Dependencies

This component needs colcon and other Python 3 packages in order to build micro-ROS packages:

pip3 install catkin_pkg lark-parser empy colcon-common-extensions

Usage

For example for disco_l475_iot1 board:

west build -b disco_l475_iot1 -p

Some configuration parameters can be found using:

west build -t menuconfig
# Modules -> micro-ROS support

Is possible to use a micro-ROS Agent just with this docker command:

# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:jazzy serial --dev [YOUR BOARD PORT] -v6

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:jazzy udp4 --port 8888 -v6

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

License

This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

There are no known limitations.