{"id":28717067,"url":"https://github.com/micro-ros/micro_ros_rtthread_component","last_synced_at":"2025-10-07T04:55:58.812Z","repository":{"id":82236452,"uuid":"533313657","full_name":"micro-ROS/micro_ros_rtthread_component","owner":"micro-ROS","description":null,"archived":true,"fork":false,"pushed_at":"2023-01-10T11:03:27.000Z","size":300,"stargazers_count":11,"open_issues_count":0,"forks_count":7,"subscribers_count":9,"default_branch":"main","last_synced_at":"2025-06-15T03:13:20.733Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/micro-ROS.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2022-09-06T12:29:50.000Z","updated_at":"2025-04-30T08:45:03.000Z","dependencies_parsed_at":"2023-03-09T19:00:40.851Z","dependency_job_id":null,"html_url":"https://github.com/micro-ROS/micro_ros_rtthread_component","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/micro-ROS/micro_ros_rtthread_component","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/micro-ROS%2Fmicro_ros_rtthread_component","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/micro-ROS%2Fmicro_ros_rtthread_component/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/micro-ROS%2Fmicro_ros_rtthread_component/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/micro-ROS%2Fmicro_ros_rtthread_component/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/micro-ROS","download_url":"https://codeload.github.com/micro-ROS/micro_ros_rtthread_component/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/micro-ROS%2Fmicro_ros_rtthread_component/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":278722766,"owners_count":26034461,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-10-07T02:00:06.786Z","response_time":59,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-15T03:13:01.308Z","updated_at":"2025-10-07T04:55:58.801Z","avatar_url":"https://github.com/micro-ROS.png","language":"Python","readme":"![banner](.images/banner-dark-theme.png#gh-dark-mode-only)\n![banner](.images/banner-light-theme.png#gh-light-mode-only)\n\n# micro-ROS for RT-Thread\nThis is a micro-ROS library for projects based on [RT-Thread RTOS](https://www.rt-thread.io/).\n\nThe build process for ROS 2 and micro-ROS is based on custom meta-build system tools and [CMake](https://cmake.org/).\nSCons will handle the full build process, including dependencies, compilation and linkage.\n\n- [micro-ROS for RT-Thread](#micro-ros-for-rt-thread)\n  - [Supported boards](#supported-boards)\n  - [Requirements for Windows](#requirements-for-windows)\n  - [How to add to your project](#how-to-add-to-your-project)\n    - [Build the library](#build-the-library)\n  - [Library configuration](#library-configuration)\n    - [ROS 2 distribution](#ros-2-distribution)\n    - [Transport configuration](#transport-configuration)\n    - [Extra packages](#extra-packages)\n    - [Memory configuration](#memory-configuration)\n  - [Using the micro-ROS Agent](#using-the-micro-ros-agent)\n  - [Examples](#examples)\n\n## Supported boards\nSupported boards are:\n\n| Board         | Platform  | Transports |\n| ------------- | --------- | ---------- |\n| `aurix_tc397` | `tricore` | `udp`      |\n\n\n## Requirements for Windows\n\n- Ready to use RT-Thread environment.\n- Python 3.6 or higher installation in the system path.\n- Python 3 pip installation in the system path.\n- CMake 3.13 or higher installation in the system path.\n- Git installation in the system path.\n\n## How to add to your project\n\nThis package needs to be added manually to the RT-Thread env:\n\n- Copy the `package\\micro_ros_rtthread_package` folder from this repository inside of your main environment `env\\packages` folder.\n\n  ![image](./.images/add_to_env.png)\n\n- Update the Kconfig files under the `env\\packages\\Kconfig` file with the added path:\n  ```\n  source \"$PKGS_DIR/packages/Kconfig\"\n  source \"$PKGS_DIR/micro_ros_rtthread_package/Kconfig\"\n  ```\n- Copy the complete repository folder to your project `packages` subfolder.\n- Now micro-ROS package can be activated through the `menuconfig` options:\n\n  ![image](./.images/menuconfig_1.png)\n\nFurther documentation on how to add packages to RT-Thread environment can be found on [RT-Thread: Manage Software Package Index Source](https://github.com/RT-Thread/packages/blob/master/README_en.md#manage-software-package-index-source).\n\n### Build the library\n\nOnce the package has been enabled, the library can be build with the following command:\n\n```bash\n# Build micro-ROS library\nscons --build_microros\n```\n\nAfter the library is compiled for first time the build process will be skipped, to trigger a rebuild and included the latest changes:\n\n```bash\n# Clean library\nscons --clean_microros\n\n# Rebuild\nscons --build_microros\n```\n\n## Library configuration\nThis section details the different library configuration options available to the user.\nNote that a library rebuild is needed after `menuconfig` modifications or new micro-ROS packages are added.\n\n### ROS 2 distribution\n\nThe target ROS 2 distribution can be configured with the menuconfig option `Distribution`, currently supported ROS2 distributions are:\n  - `foxy` *(default value)*\n  - `humble`\n\n### Transport configuration\n\nThe transport can be configured with the provided user API for each type:\n  - `UDP`:\n\n    ```c\n    char * agent_ip_address = \"192.168.1.185\";\n    uint16_t agent_port = 8888;\n    set_microros_net_transport(agent_ip_address, agent_port);\n    ```\n\n### Extra packages\n\nExtra packages can be added to the build process by copying the package directories on the `micro-Landmark/builder/extra_packages` folder. Added packages will appear on the build process log:\n\n```bash\nDownloading micro-ROS library\n         - Downloaded ...\n\nChecking extra packages\n         - Adding example_interfaces\n```\n\nThis should be used for example when adding custom messages types or custom micro-ROS packages.\n\n### Memory configuration\n\nMemory footprint can be configured at the `Micro XRCE-DDS` middleware level:\n\n| Parameter | Description | Default value |\n|-----------|-------------|---------------|\n| Nodes       | Maximum number of nodes       | 1 |\n| Publishers  | Maximum number of publishers  | 1 |\n| Subscribers | Maximum number of subscribers | 1 |\n| Services    | Maximum number of services    | 0 |\n| Clients     | Maximum number of clients     | 0 |\n\nFurther documentation on micro-ROS middleware configuration and memory footprint can be found on [micro-ROS client Memory Profiling](https://www.eprosima.com/index.php/resources-all/performance/micro-ros-client-memory-profiling) article.\n\n## Using the micro-ROS Agent\nIt is possible to use a **micro-ROS Agent** just by using this docker command:\n\n```bash\n# UDPv4 micro-ROS Agent\ndocker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6\n```\n\n## Examples\n\nSimple publisher and subscriber examples are provided on the [examples](./examples) directory. This examples can be enabled with the `Include examples` menuconfig option.\n\nThe examples can be executed from the console with the Agent IP and port as arguments:\n  ```bash\n  # Publisher app\n  msh \u003e microros_pub 192.168.1.185 8888\n\n  # Subscriber app\n  msh \u003e microros_sub 192.168.1.185 8888\n  ```\n\nOther examples and detailed documentation on micro-ROS can be found on:\n- [micro-ROS Demos](https://github.com/micro-ROS/micro-ROS-demos/tree/humble/rclc) repository.\n- [Vulcanexus micro-ROS API](https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/user_api/user_api.html) documentation.\n\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmicro-ros%2Fmicro_ros_rtthread_component","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmicro-ros%2Fmicro_ros_rtthread_component","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmicro-ros%2Fmicro_ros_rtthread_component/lists"}