micro-ROS app for Nuttx RTOS

Humble	Iron	Jazzy	Rolling

This component has been tested in Nuttx 10.3.

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

You can clone this repo directly in the app folder of your project.

Example

In order to test a int32_publisher example for STM32L4 Discovery kit IoT node:

1. Install all the Nuttx dependencies using the official documentation
2. Clone this repo inside apps folder:

git clone https://github.com/micro-ROS/micro_ros_nuttx_app apps/microros

3. Go to nuttx folder and configure the support for STM32L4 Discovery kit IoT node:

cd nuttx
./tools/configure.sh -l b-l475e-iot01a:nsh

4. Enable micro-ROS library, UART4 and Serial Termios using make menuconfig or:

kconfig-tweak --enable CONFIG_MICROROSLIB
kconfig-tweak --enable CONFIG_MICROROS_EXAMPLE
kconfig-tweak --enable CONFIG_SERIAL_TERMIOS
kconfig-tweak --enable CONFIG_STM32L4_UART4
kconfig-tweak --enable CONFIG_STM32L4_UART4_SERIALDRIVER
kconfig-tweak --enable CONFIG_UART4_SERIALDRIVER
kconfig-tweak --set-val CONFIG_UART4_RXBUFSIZE 256
kconfig-tweak --set-val CONFIG_UART4_TXBUFSIZE 256
kconfig-tweak --set-val CONFIG_UART4_BAUD 115200
kconfig-tweak --set-val CONFIG_UART4_BITS 8
kconfig-tweak --set-val CONFIG_UART4_PARITY 0
kconfig-tweak --set-val CONFIG_UART4_2STOP 0

5. Build Nuttx:

make -j$(nproc)

6. Flash the board:

openocd -f interface/stlink-v2-1.cfg -f target/stm32l4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx.bin 0x08000000" -c "reset" -c "exit"

7. Connect UART4 (the one in the Arduino header D0 and D1) to your micro-ROS Agent.
8. You can run the micro-ROS example by launching microros /dev/ttyS1 in NSH console. First argument is the serial port used for client to agent communication:

NuttShell (NSH) NuttX-10.1.0-RC1
nsh> microros /dev/ttyS1
micro-ROS transport: connected using serial mode, dev: '/dev/ttyS1'
INFO: rcl_wait timeout 0 ms
Sent: 0
Sent: 1
Sent: 2

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

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.