We are happy to introduce a prototype for ROS 2 in deeply-embedded systems, using the stm3240g-eval board, which contains an STM32F4 microcontroller, an Ethernet interface, and some extra SRAM. The prototype combines a real-time operating system (NuttX) with a pseudo-POSIX interface, a DDS implementation (Tinq), and an example that uses ROS message types to communicate with other ROS 2 machines.
Here’s Victor to tell you about it:
This prototype has several caveats, most importantly that system performance is limited to ~3 Hz at the moment due to the UDP implementation of the underlying RTOS, but we expect that to improve drastically over time. We are hoping that this work is a starting point for the next generation of ROS-compatible sensors and actuators: robot parts that, out of the box, plug into an Ethernet network and interoperate in the ROS environment as first class participants.