https://github.com/micro-ros/micro_ros_rtthread_component
https://github.com/micro-ros/micro_ros_rtthread_component
Last synced: 3 months ago
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- Host: GitHub
- URL: https://github.com/micro-ros/micro_ros_rtthread_component
- Owner: micro-ROS
- Archived: true
- Created: 2022-09-06T12:29:50.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-01-10T11:03:27.000Z (almost 3 years ago)
- Last Synced: 2025-06-15T03:13:20.733Z (6 months ago)
- Language: Python
- Size: 293 KB
- Stars: 11
- Watchers: 9
- Forks: 7
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# micro-ROS for RT-Thread
This is a micro-ROS library for projects based on [RT-Thread RTOS](https://www.rt-thread.io/).
The build process for ROS 2 and micro-ROS is based on custom meta-build system tools and [CMake](https://cmake.org/).
SCons will handle the full build process, including dependencies, compilation and linkage.
- [micro-ROS for RT-Thread](#micro-ros-for-rt-thread)
- [Supported boards](#supported-boards)
- [Requirements for Windows](#requirements-for-windows)
- [How to add to your project](#how-to-add-to-your-project)
- [Build the library](#build-the-library)
- [Library configuration](#library-configuration)
- [ROS 2 distribution](#ros-2-distribution)
- [Transport configuration](#transport-configuration)
- [Extra packages](#extra-packages)
- [Memory configuration](#memory-configuration)
- [Using the micro-ROS Agent](#using-the-micro-ros-agent)
- [Examples](#examples)
## Supported boards
Supported boards are:
| Board | Platform | Transports |
| ------------- | --------- | ---------- |
| `aurix_tc397` | `tricore` | `udp` |
## Requirements for Windows
- Ready to use RT-Thread environment.
- Python 3.6 or higher installation in the system path.
- Python 3 pip installation in the system path.
- CMake 3.13 or higher installation in the system path.
- Git installation in the system path.
## How to add to your project
This package needs to be added manually to the RT-Thread env:
- Copy the `package\micro_ros_rtthread_package` folder from this repository inside of your main environment `env\packages` folder.
- Update the Kconfig files under the `env\packages\Kconfig` file with the added path:
```
source "$PKGS_DIR/packages/Kconfig"
source "$PKGS_DIR/micro_ros_rtthread_package/Kconfig"
```
- Copy the complete repository folder to your project `packages` subfolder.
- Now micro-ROS package can be activated through the `menuconfig` options:
Further 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).
### Build the library
Once the package has been enabled, the library can be build with the following command:
```bash
# Build micro-ROS library
scons --build_microros
```
After the library is compiled for first time the build process will be skipped, to trigger a rebuild and included the latest changes:
```bash
# Clean library
scons --clean_microros
# Rebuild
scons --build_microros
```
## Library configuration
This section details the different library configuration options available to the user.
Note that a library rebuild is needed after `menuconfig` modifications or new micro-ROS packages are added.
### ROS 2 distribution
The target ROS 2 distribution can be configured with the menuconfig option `Distribution`, currently supported ROS2 distributions are:
- `foxy` *(default value)*
- `humble`
### Transport configuration
The transport can be configured with the provided user API for each type:
- `UDP`:
```c
char * agent_ip_address = "192.168.1.185";
uint16_t agent_port = 8888;
set_microros_net_transport(agent_ip_address, agent_port);
```
### Extra packages
Extra 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:
```bash
Downloading micro-ROS library
- Downloaded ...
Checking extra packages
- Adding example_interfaces
```
This should be used for example when adding custom messages types or custom micro-ROS packages.
### Memory configuration
Memory footprint can be configured at the `Micro XRCE-DDS` middleware level:
| Parameter | Description | Default value |
|-----------|-------------|---------------|
| Nodes | Maximum number of nodes | 1 |
| Publishers | Maximum number of publishers | 1 |
| Subscribers | Maximum number of subscribers | 1 |
| Services | Maximum number of services | 0 |
| Clients | Maximum number of clients | 0 |
Further 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.
## Using the micro-ROS Agent
It is possible to use a **micro-ROS Agent** just by using this docker command:
```bash
# UDPv4 micro-ROS Agent
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6
```
## Examples
Simple publisher and subscriber examples are provided on the [examples](./examples) directory. This examples can be enabled with the `Include examples` menuconfig option.
The examples can be executed from the console with the Agent IP and port as arguments:
```bash
# Publisher app
msh > microros_pub 192.168.1.185 8888
# Subscriber app
msh > microros_sub 192.168.1.185 8888
```
Other examples and detailed documentation on micro-ROS can be found on:
- [micro-ROS Demos](https://github.com/micro-ROS/micro-ROS-demos/tree/humble/rclc) repository.
- [Vulcanexus micro-ROS API](https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/user_api/user_api.html) documentation.