Ros2 Microros

micro-ROS Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy)

Unverified. Every other domain skill in this pack was measured against a baseline agent and deleted when the agent reached the same result without it. This one has no ladder — running it needs an MCU and an agent connection that are not available here — so it survives untested, not because it earned a place. Treat its contents as a starting point to check, not as ground truth.

1. Architecture

micro-ROS connects constrained MCUs (STM32, ESP32, FreeRTOS, Zephyr) to the ROS 2 DDS graph via micro_ros_agent + the rclc client library over Micro XRCE-DDS. Static memory pools (rmw_microxrcedds) give zero steady-state heap allocation when RMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS=OFF.

2. Documentation Entry Points

3. Key Concepts & Patterns

A. Embedded Client Node Setup (rclc in C)

#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/int32.h>

int main(void) {
  rcl_allocator_t allocator = rcl_get_default_allocator();
  rclc_support_t support = {0};
  rcl_node_t node = {0};
  rcl_publisher_t pub = {0};

  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "mcu_node", "", &support);
  rclc_publisher_init_default(&pub, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "chatter");

  // Clean up
  rcl_publisher_fini(&pub, &node);
  rcl_node_fini(&node);
  rclc_support_fini(&support);
  return 0;
}

B. Micro-ROS Agent Execution

# Serial Transport (e.g. UART to USB)
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -b 115200

# UDP Transport
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

4. Symptom -> Root Cause -> Action