agent-less and lightweight communication library compatible with rclcpp for embedded devices

Overview

mros2

mros2 (formally mROS 2) realizes an agent-less and lightweight runtime environment compatible with ROS 2 for embedded devices. It consists of basic APIs for pub/sub communication, RTPS protocol, UDP/IP stack, and real-time kernel. Embedded nodes can now communicate directly with native ROS 2 nodes via topic!

This repository maintains the communication layer of mROS 2, that mainly offers pub/sub APIs compatible with rclcpp for embedded devices. ROS 2 is a de-fact platform for the robot system development, and provides pub/sub communication infrastructure with the DDS/RTPS protocol.

Features

  • Agent-less: a node on mROS 2 autonomously discovers communication nodes on the host with the feature of embeddedRTPS. It means no agent/bridge is required for pub/sub communication from the embedded devices.
  • Lightweight: mROS 2 APIs are implemented by C++ to be operated on the embedded devices. All software stacks are also implemented only in C/C++.
  • Real-time: mROS 2 employs the real-time kernel (e.g., TOPPERS kernel) as the runtime platform in order to enhance the real-time capability.

Supported platform

Since this repository itself only maintains the communication layer of mROS 2, we also publish the implementation on the embedded board using this layer and the embedded kernel. Please see each repository to learn how to use it.

name kernel board
mros2-asp3-f767zi TOPPERS/ASP3 STM32 NUCLEO-F767ZI
mros2-mbed Mbed OS 6 Mbed enabled boards having an Ethernet port (See detail)

Please let us know if you have a request for a support of board/kernel, or if you could implement this layer on another platform.

License

The source code of this repository itself is published under Apache License 2.0.
Please note that this repository contains embeddedRTPS and its third party libraries as the submodule, and also check their Licenses.

Issues
  • Initial (bit rough) porting to Mbed environment.

    Initial (bit rough) porting to Mbed environment.

    As I've reported below, I have some trivial problems to compile your mros2 for Mbed environment. https://www.slideshare.net/smorita1/mros2-on-mbed

    We know to implement an OS abstraction layer for the potability. But, it might be beneficial to port it , without such a layer, to another OS directly, as a first step.

    opened by smoriemb 2
  • Bump to Foxy

    Bump to Foxy

    Current implementation only supports the communication to Dashing distribution on the host. We need to support the communication to Foxy (and Galactic).

    opened by takasehideki 2
  • [trial -> failed] merge custom MsgType feature to v0.4.0_rc

    [trial -> failed] merge custom MsgType feature to v0.4.0_rc

    v0.4.0_rc has been prepared to mros2-posix. It does not currently have the feature to treat custom MsgType for Topic communication. This PR tries to realize it.

    opened by takasehideki 1
  • fix for posix cmake build support

    fix for posix cmake build support

    Background

    mros2 is for embedded machines, but I'm trying to run mros2 on Linux process using embeddedRTPS-Linux.

    Problem

    • cmake
      • now CMakeLists.txt is for mbed, but mros2-posix needs some additional commands.
    • warning
      • now address debug print is for 32bit, but mros2-posix is for 64bit. so compile warning is occured.

    Fix

    • cmake
      • cmake_minimum_required and project commands are added
      • cmake-build folder is added
    • warning
      • address debug print is deleted.
    opened by esm-tmori 1
  • fix compile error for posix-mros2

    fix compile error for posix-mros2

    Background

    mros2 is for embedded machines, but I'm trying to run mros2 on Linux process using embeddedRTPS-Linux.

    Problem(compile error for posix mros2)

    1. __dso_handle is not needed
    2. callback_handler is accessing private member data of ReaderCacheChange class

    Fix

    1. __dso_handle is compiled only defined USE_ASP3_FOR_STM macro
    2. use getData() instead of accesing private member data
    opened by esm-tmori 1
  • refactoring mROS2

    refactoring mROS2

    概要

    mROS-base/mros2-asp3-f767zi#33 を参照する.

    変更内容

    関連issuesを参照してください.

    ビルド手順

    mROS-base/mros2-asp3-f767zi#33 を参照する.

    関連issues

    mROS-base/mros2-asp3-f767zi#30:refactoring source tree and submodules mROS-base/mros2-asp3-f767zi#31:plan and status of refactoring directory/file structure mROS-base/mros2-asp3-f767zi#32:Modularization Issue Response

    opened by ryoto-takashima 1
  • remove generation of header_includer

    remove generation of header_includer

    Since it was just included in two stages, mros2.cpp will include templates.hpp which will be generated into platform's workspace directly from mros2.cpp

    opened by takasehideki 0
  • move makefiles to mros2-asp3-f767zi

    move makefiles to mros2-asp3-f767zi

    Since makefiles/ are specific to the target about mros2-asp3-f767zi (mros2 with TOPPERS/ASP3 kernel and STM32CubeMX lib), we decided to move these files to mros2-asp3-f767zi repository.

    opened by takasehideki 0
  • move `__dso_handle` to mros2-asp3-f767zi

    move `__dso_handle` to mros2-asp3-f767zi

    Since the definition of __dso_handle is specific to the target about mros2-asp3-f767zi (mros2 with TOPPERS/ASP3 kernel and STM32CubeMX lib), we decided to move this definition to mros2-asp3-f767zi repository.

    opened by takasehideki 0
  • refactoring mROS2 (fix file structure)

    refactoring mROS2 (fix file structure)

    概要

    refactoring mROS2 #1 の追加修正

    変更内容

    関連issuesを参照してください.

    ビルド手順

    mROS-base/mros2-asp3-f767zi#33 を参照する.

    関連issues

    mROS-base/mros2-asp3-f767zi#30:refactoring source tree and submodules mROS-base/mros2-asp3-f767zi#31:plan and status of refactoring directory/file structure mROS-base/mros2-asp3-f767zi#32:Modularization Issue Response

    opened by ryoto-takashima 0
  • Bump to Humble Hawksbill

    Bump to Humble Hawksbill

    Humble Hawksbill, that is the latest LTS (until May 2027), has been released!! https://discourse.ros.org/t/ros-2-humble-hawksbill-released/25729

    We should check whether mROS 2 on various platforms work well with this distribution on Ubuntu 22.04. If not, some tasks will happen to follow up the new world.

    opened by takasehideki 0
Releases(v0.3.2)
  • v0.3.2(Mar 11, 2022)

    What's Changed

    • clear cntPub appropriately by @Hibagon1go in https://github.com/mROS-base/mros2/pull/28
    • remove generation of header_includer by @takasehideki in https://github.com/mROS-base/mros2/pull/29

    Full Changelog: https://github.com/mROS-base/mros2/compare/v0.3.1...v0.3.2

    Source code(tar.gz)
    Source code(zip)
  • v0.2.3.1(Feb 23, 2022)

    For mros2-mbed users, bump embeddedRTPS PR#9 to v0.2.3 (move include/rtps/config.h to each target repository)

    https://github.com/mROS-base/embeddedRTPS/pull/9 https://github.com/mROS-base/embeddedRTPS/commit/c3acc8997b4100a8ca0ec59d89c7f83962e18cc0

    Full Changelog: https://github.com/mROS-base/mros2/compare/v0.2.3...v0.2.3.1

    Source code(tar.gz)
    Source code(zip)
  • v0.3.1(Feb 23, 2022)

    What's Changed

    • move include/rtps/config.h to each target repository in https://github.com/mROS-base/mros2/pull/26
    • fix tiny typo in variable name in https://github.com/mROS-base/mros2/pull/27

    Full Changelog: https://github.com/mROS-base/mros2/compare/v0.3.0...v0.3.1

    Source code(tar.gz)
    Source code(zip)
  • v0.3.0(Feb 20, 2022)

    • Support custom MsgTypes for topic communication :tada: by @Hibagon1go #25
      • Since this release is very begining of new feature, the documentation is still poor. And also we recognize there are many issues to improve convenience of usage. Please feel free to ask us and suggest anything you want!
    • Fix CMakeLists and its structure for future releases #24

    Full Changelog: https://github.com/mROS-base/mros2/compare/v0.2.3...v0.3.0

    Source code(tar.gz)
    Source code(zip)
  • v0.2.4(Feb 20, 2022)

    This is a pre-release as a footprint about awesome research results

    • Trial support for custom msgtype. Full support has been published on v0.3.0
    • This work will be published at ETNET 2022.
    Source code(tar.gz)
    Source code(zip)
  • v0.2.3(Dec 23, 2021)

    • use getData() instead of accesing private member data #20 (thanks @esm-tmori !!)
    • remove embeddedRTPS/src/rtps.cpp from cmake/make target #21
    • move target specific code/file to mros2-asp3-f767zi repository
      • the definition of __dso_handle #22 (also related to #20)
      • makefiles/ to specify build objects #23
    Source code(tar.gz)
    Source code(zip)
  • v0.2.2(Dec 16, 2021)

  • v0.2.1(Dec 13, 2021)

  • v0.2.0(Oct 29, 2021)

  • v0.1.4(Sep 13, 2021)

  • v0.1.3(Sep 12, 2021)

  • v0.1.2(Sep 11, 2021)

  • v0.1.1(Aug 19, 2021)

  • v0.1.0(Aug 18, 2021)

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