https://github.com/micro-ros/micro_ros_nuttx_app
An standalone micro-ROS app for Nuttx
https://github.com/micro-ros/micro_ros_nuttx_app
Last synced: 5 months ago
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An standalone micro-ROS app for Nuttx
- Host: GitHub
- URL: https://github.com/micro-ros/micro_ros_nuttx_app
- Owner: micro-ROS
- Created: 2021-05-10T14:00:57.000Z (over 4 years ago)
- Default Branch: jazzy
- Last Pushed: 2025-04-02T05:48:15.000Z (9 months ago)
- Last Synced: 2025-04-02T06:31:17.817Z (9 months ago)
- Language: Makefile
- Size: 273 KB
- Stars: 11
- Watchers: 2
- Forks: 8
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
Awesome Lists containing this project
README
# micro-ROS app for Nuttx RTOS
| Humble | Iron | Jazzy | Rolling |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [](https://github.com/micro-ROS/micro_ros_nuttx_app/actions/workflows/ci.yml) | [](https://github.com/micro-ROS/micro_ros_nuttx_app/actions/workflows/ci.yml) | [](https://github.com/micro-ROS/micro_ros_nuttx_app/actions/workflows/ci.yml) | [](https://github.com/micro-ROS/micro_ros_nuttx_app/actions/workflows/ci.yml) |
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:
```bash
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](https://www.st.com/en/evaluation-tools/b-l475e-iot01a.html):
1. Install all the Nuttx dependencies using the [official documentation](https://nuttx.apache.org/docs/10.0.0/quickstart/install.html)
2. Clone this repo inside `apps` folder:
```bash
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](https://www.st.com/en/evaluation-tools/b-l475e-iot01a.html):
```bash
cd nuttx
./tools/configure.sh -l b-l475e-iot01a:nsh
```
4. Enable micro-ROS library, UART4 and Serial Termios using `make menuconfig` or:
```bash
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:
```bash
make -j$(nproc)
```
6. Flash the board:
```bash
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:
```bash
# 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](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](3rd-party-licenses.txt).
## Known Issues/Limitations
There are no known limitations.