# Embedded

**URL:** https://discourse.openrobotics.org/c/archive/embedded/9.md

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## [About the Embedded category](https://discourse.openrobotics.org/t/about-the-embedded-category/136)

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**Author:** [@tfoote](https://discourse.openrobotics.org/u/tfoote)\
**Replies:** 0

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This category is to discuss methods to bridge to, integrate, and otherwise incorporate embedded systems in the Robot Operating System ( ROS, http://ros.org ) This category is replacing the old mailing list: Redirecting …

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## [Architecture Advice for Large-Scale Radar-Based Volume Estimation](https://discourse.openrobotics.org/t/architecture-advice-for-large-scale-radar-based-volume-estimation/44134)

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**Author:** [@Jimi1811](https://discourse.openrobotics.org/u/Jimi1811)\
**Replies:** 0\
**Last updated:** [June 5, 2025, 11:27pm UTC](https://discourse.openrobotics.org/t/architecture-advice-for-large-scale-radar-based-volume-estimation/44134 "2025-06-05T23:27:31Z")

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Hello! I am working on an IoT project where I need to use 100 radars on a dome surface to estimate the volume of what is inside. Due to my background in robotics, I am familiar with micro-ROS and ROS 2, and theoreticall…

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## [Minecraft\_ros2 is now available!](https://discourse.openrobotics.org/t/minecraft-ros2-is-now-available/43928)

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**Author:** [@kazu-321](https://discourse.openrobotics.org/u/kazu-321)\
**Replies:** 0\
**Last updated:** [May 25, 2025, 11:37pm UTC](https://discourse.openrobotics.org/t/minecraft-ros2-is-now-available/43928 "2025-05-25T23:37:01Z")

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:rocket: minecraft\_ros2 is now available! With just 2 Docker commands, connect Minecraft and ROS 2 in no time :video\_game::robot: Control Minecraft using Twist messages and visualize the surroundings with Hesai LiDAR h…

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## [Integrating ROS 2 with microcontrollers when using Zenoh](https://discourse.openrobotics.org/t/integrating-ros-2-with-microcontrollers-when-using-zenoh/43463)

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**Author:** [@xopxe](https://discourse.openrobotics.org/u/xopxe)\
**Replies:** 20\
**Last updated:** [May 29, 2025, 1:13pm UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-microcontrollers-when-using-zenoh/43463 "2025-05-29T13:13:01Z")

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Continuing the discussion from Reference implementation of Zenoh-pico to micro-ROS: This is a post asking about the best way to go forward. We are working on robots that have a couple of different architectures: 1: One…

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## [ROS2 + micros-ros control design, where to run what](https://discourse.openrobotics.org/t/ros2-micros-ros-control-design-where-to-run-what/41681)

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**Author:** [@xopxe](https://discourse.openrobotics.org/u/xopxe)\
**Replies:** 4\
**Last updated:** [January 24, 2025, 11:07pm UTC](https://discourse.openrobotics.org/t/ros2-micros-ros-control-design-where-to-run-what/41681 "2025-01-24T23:07:02Z")

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A few years down the line from this discussion, how has the state-of-art evolved in this topic? I have very little ROS experience and would like some feedback on design. I have a straightforward skid-drive robot with an …

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## [Embedded Development in Rust](https://discourse.openrobotics.org/t/embedded-development-in-rust/41354)

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**Author:** [@Immanuel\_Jzv](https://discourse.openrobotics.org/u/Immanuel_Jzv)\
**Replies:** 1\
**Last updated:** [January 2, 2025, 12:46am UTC](https://discourse.openrobotics.org/t/embedded-development-in-rust/41354 "2025-01-02T00:46:26Z")

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Rust’s growing ecosystem provides a range of tools and frameworks designed for embedded systems development, each catering to specific needs in debugging, concurrency, and operating systems. These are either mature or s…

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## [Micro-ROS Zephyr and Eclipse ThreadX which is the right choice?](https://discourse.openrobotics.org/t/micro-ros-zephyr-and-eclipse-threadx-which-is-the-right-choice/39894)

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**Author:** [@davecrawley](https://discourse.openrobotics.org/u/davecrawley)\
**Replies:** 3\
**Last updated:** [October 4, 2024, 10:14am UTC](https://discourse.openrobotics.org/t/micro-ros-zephyr-and-eclipse-threadx-which-is-the-right-choice/39894 "2024-10-04T10:14:30Z")

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TLDR Given that we now have an open-source safety certified RTOS, with higher performance than Zephyr that is being supported by key micro-controller players should we be thinking about implementing micro-ROS on ThreadX…

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## [ROS 2 Embedded WG meetings](https://discourse.openrobotics.org/t/ros-2-embedded-wg-meetings/15460)

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**Author:** [@FraFin](https://discourse.openrobotics.org/u/FraFin)\
**Replies:** 84\
**Last updated:** [September 16, 2024, 10:08am UTC](https://discourse.openrobotics.org/t/ros-2-embedded-wg-meetings/15460 "2024-09-16T10:08:47Z")

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The Embedded Working Group meetings are back! We’ll retake them starting the next 22nd of July, at 5 pm CEST (8 am PDT), every four Wednesdays, with a special focus on micro-ROS and its middleware, Micro XRCE-DDS. You’…

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## [Installation of ROS/ROS2 on PYNQ](https://discourse.openrobotics.org/t/installation-of-ros-ros2-on-pynq/15549)

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**Author:** [@ohkawatks](https://discourse.openrobotics.org/u/ohkawatks)\
**Replies:** 1\
**Last updated:** [July 1, 2024, 8:11am UTC](https://discourse.openrobotics.org/t/installation-of-ros-ros2-on-pynq/15549 "2024-07-01T08:11:33Z")

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I would like to share a quick guide to install ROS/ROS2 on Pynq OS, which is based on Ubuntu, Python Jupiter-notebook, and has the functionality of handling the FPGA interface by Python on Xilinx Zynq. I used Zybo-Z7-2…

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## [micro-ROS + PlatformIO](https://discourse.openrobotics.org/t/micro-ros-platformio/23340)

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**Author:** [@mamerlan](https://discourse.openrobotics.org/u/mamerlan)\
**Replies:** 2\
**Last updated:** [April 2, 2024, 3:25pm UTC](https://discourse.openrobotics.org/t/micro-ros-platformio/23340 "2024-04-02T15:25:39Z")

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micro-ROS now can be used in PlatformIO using micro-ROS for Arduino precompiled libraries. To integrate Platform IO in any board supported by micro-ROS for Arduino, the user only needs to add the library to your project…

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## [Setting micro\_ros\_agent ROS\_DOMAIN\_ID to other than 0](https://discourse.openrobotics.org/t/setting-micro-ros-agent-ros-domain-id-to-other-than-0/36912)

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**Author:** [@mjohannessen](https://discourse.openrobotics.org/u/mjohannessen)\
**Replies:** 1\
**Last updated:** [March 29, 2024, 5:36pm UTC](https://discourse.openrobotics.org/t/setting-micro-ros-agent-ros-domain-id-to-other-than-0/36912 "2024-03-29T17:36:11Z")

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Following this First micro-ROS Application on Linux | micro-ROS and using a raspberry pi4b as host and a pico, I’m able to build the project in a docker container on the pi, build the sample pico\_micro\_ros\_example.uf2, l…

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## [Micro-Ros / XRCE-DDS inter & intra task communication](https://discourse.openrobotics.org/t/micro-ros-xrce-dds-inter-intra-task-communication/36699)

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**Author:** [@amcolex](https://discourse.openrobotics.org/u/amcolex)\
**Replies:** 1\
**Last updated:** [March 19, 2024, 3:52pm UTC](https://discourse.openrobotics.org/t/micro-ros-xrce-dds-inter-intra-task-communication/36699 "2024-03-19T15:52:08Z")

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Hello everyone, I’m currently exploring the potential of migrating our existing codebase to micro-ROS and would appreciate some guidance from the community. Our company designs and builds drones, and our current setup …

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## [Getting the micro-ROS demos to run on Renesas EK-RA6M5](https://discourse.openrobotics.org/t/getting-the-micro-ros-demos-to-run-on-renesas-ek-ra6m5/30153)

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**Author:** [@samiamlabs](https://discourse.openrobotics.org/u/samiamlabs)\
**Replies:** 7\
**Last updated:** [March 14, 2024, 1:47am UTC](https://discourse.openrobotics.org/t/getting-the-micro-ros-demos-to-run-on-renesas-ek-ra6m5/30153 "2024-03-14T01:47:26Z")

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Hi! I’ve been trying to get the micro-ROS demos from here working: GitHub - micro-ROS/micro\_ros\_renesas2estudio\_component: A set of utilities for integrating micro-ROS in a Renesas e2 studio project I got this specific…

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## [Our conclusions on trying to implement micro-ros in our robot](https://discourse.openrobotics.org/t/our-conclusions-on-trying-to-implement-micro-ros-in-our-robot/24690)

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**Author:** [@Trab40](https://discourse.openrobotics.org/u/Trab40)\
**Replies:** 5\
**Last updated:** [March 21, 2022, 11:10am UTC](https://discourse.openrobotics.org/t/our-conclusions-on-trying-to-implement-micro-ros-in-our-robot/24690 "2022-03-21T11:10:55Z")

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I work at a startup (https://www.adinnovations.nl/) that is using ros2 foxy to bring imaging systems to industrial greenhouses in the Netherlands for crop analysis. Recently, we have been looking into micro-ros and seein…

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## [Zephyr Tech talk on Microros](https://discourse.openrobotics.org/t/zephyr-tech-talk-on-microros/35876)

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**Author:** [@raintamer](https://discourse.openrobotics.org/u/raintamer)\
**Replies:** 0\
**Last updated:** [February 1, 2024, 2:52pm UTC](https://discourse.openrobotics.org/t/zephyr-tech-talk-on-microros/35876 "2024-02-01T14:52:43Z")

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The Zephyr project is hosting a a one hour tech talk and demo on running micro-Ros on an esp32, an esp32c3 and a raspberry pi pico w Wednesday the 7th of February ROS 2 on Microcontrollers with micro-ROS & Zephyr 🦾 /…

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## [Issues running the micro-ROS zephyr host emulator tutorial](https://discourse.openrobotics.org/t/issues-running-the-micro-ros-zephyr-host-emulator-tutorial/35403)

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**Author:** [@0xjairo](https://discourse.openrobotics.org/u/0xjairo)\
**Replies:** 1\
**Last updated:** [January 2, 2024, 12:51pm UTC](https://discourse.openrobotics.org/t/issues-running-the-micro-ros-zephyr-host-emulator-tutorial/35403 "2024-01-02T12:51:22Z")

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cross-posting my stack exchange question here for visibility. In summary I’m having issues running the Zephyr host emulator tutorial. All the things appear to compile and run correctly, except the Zephyr app aborts stati…

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## [Espressif ESP32S3 micro-ROS support](https://discourse.openrobotics.org/t/espressif-esp32s3-micro-ros-support/24160)

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**Author:** [@mamerlan](https://discourse.openrobotics.org/u/mamerlan)\
**Replies:** 0\
**Last updated:** [February 3, 2022, 7:23am UTC](https://discourse.openrobotics.org/t/espressif-esp32s3-micro-ros-support/24160 "2022-02-03T07:23:03Z")

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micro-ROS is supported in ESP32S3, the new microcontroller from Espressif. ESP32S3 is a dual-core XTensa LX7 MCUcapable of running at 240 MHz and specifically suitable for AIoT applications. Main features: 512 KB of …

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## [micro-ROS porting to ESP32](https://discourse.openrobotics.org/t/micro-ros-porting-to-esp32/16101)

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**Author:** [@FraFin](https://discourse.openrobotics.org/u/FraFin)\
**Replies:** 28\
**Last updated:** [August 26, 2023, 2:38pm UTC](https://discourse.openrobotics.org/t/micro-ros-porting-to-esp32/16101 "2023-08-26T14:38:36Z")

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The micro-ROS team is glad to announce that the pool of boards officially supported by the project has widened! The ESP32 MCU is now part of the family. ESP32 is a series of low-cost, low-power microcontrollers with inte…

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## [Request for comment, on device .msg compiler for Micropython](https://discourse.openrobotics.org/t/request-for-comment-on-device-msg-compiler-for-micropython/32010)

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**Author:** [@gentijo](https://discourse.openrobotics.org/u/gentijo)\
**Replies:** 8\
**Last updated:** [June 27, 2023, 7:09am UTC](https://discourse.openrobotics.org/t/request-for-comment-on-device-msg-compiler-for-micropython/32010 "2023-06-27T07:09:01Z")

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Hi all, In working with the integration of Micropython to MicroROS I ran into an issue where if a new type needed to be supported in Python that it would require c code to support the message and a recompile of the devi…

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## [ROSRider evolution: comprehensive board to control any differential drive robot](https://discourse.openrobotics.org/t/rosrider-evolution-comprehensive-board-to-control-any-differential-drive-robot/24915)

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**Author:** [@altineller](https://discourse.openrobotics.org/u/altineller)\
**Replies:** 2\
**Last updated:** [April 19, 2023, 9:12am UTC](https://discourse.openrobotics.org/t/rosrider-evolution-comprehensive-board-to-control-any-differential-drive-robot/24915 "2023-04-19T09:12:42Z")

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ROSRider evolution: comprehensive board to control any differential drive robot ROSRider is a low-cost robot control board that can be configured for any differential drive robot. It is based on a generic open source HW…

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## [MicroXRCE DDS on Ardupilot](https://discourse.openrobotics.org/t/microxrce-dds-on-ardupilot/29972)

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**Author:** [@RFRIEDM](https://discourse.openrobotics.org/u/RFRIEDM)\
**Replies:** 12\
**Last updated:** [April 2, 2023, 8:35pm UTC](https://discourse.openrobotics.org/t/microxrce-dds-on-ardupilot/29972 "2023-04-02T20:35:15Z")

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Hello! I just recently started working on MicroXRCE DDS support in Ardupilot. I’m building off of some previous work for a Google Summer of Code project that used EProsima’s MicroXRCE client and agent. The PX4 communit…

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## [microROS without ROS2 agent?](https://discourse.openrobotics.org/t/microros-without-ros2-agent/13984)

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**Author:** [@ansgarradermacher](https://discourse.openrobotics.org/u/ansgarradermacher)\
**Replies:** 5\
**Last updated:** [February 21, 2023, 12:37pm UTC](https://discourse.openrobotics.org/t/microros-without-ros2-agent/13984 "2023-02-21T12:37:49Z")

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In the context of a project with an industrial partner we’d like to use microROS. One thing that is not so clear for us is whether it is imperative to use a ROS2 agent running on a “normal” ROS2 system. While a more powe…

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## [Supported DDS implementations](https://discourse.openrobotics.org/t/supported-dds-implementations/29180)

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**Author:** [@Barty](https://discourse.openrobotics.org/u/Barty)\
**Replies:** 5\
**Last updated:** [January 12, 2023, 11:46am UTC](https://discourse.openrobotics.org/t/supported-dds-implementations/29180 "2023-01-12T11:46:10Z")

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Does micro-ROS support multiple DDS implementations, in particular CycloneDDS? I have been testing various confiugrations and don’t seem to get messages from the agent when running CycloneDDS.

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## [Pure Zephyr modules of micro-ROS](https://discourse.openrobotics.org/t/pure-zephyr-modules-of-micro-ros/27716)

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**Author:** [@yashi](https://discourse.openrobotics.org/u/yashi)\
**Replies:** 3\
**Last updated:** [November 7, 2022, 11:57am UTC](https://discourse.openrobotics.org/t/pure-zephyr-modules-of-micro-ros/27716 "2022-11-07T11:57:31Z")

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Hi, I’ve spent some time to make the micro-ROS module for Zephyr true Zephyr / West modules. Here is the current result. GitHub - yashi/micro-ros-zephyr-demo: A demo for Zephyr-modularized micro-ROS. My plan was to ma…

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## [Micro-ROS embeddedRTPS](https://discourse.openrobotics.org/t/micro-ros-embeddedrtps/27399)

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**Author:** [@Rassom](https://discourse.openrobotics.org/u/Rassom)\
**Replies:** 9\
**Last updated:** [November 2, 2022, 10:15am UTC](https://discourse.openrobotics.org/t/micro-ros-embeddedrtps/27399 "2022-11-02T10:15:46Z")

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Hello all, It has been close to a year since embeddedRTPS was last discussed here. This announcement was very exciting for me personally and I’d like to extend my delayed gratitude to everyone who contributed to this wo…

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## [micro-ROS on Arduino Portenta H7](https://discourse.openrobotics.org/t/micro-ros-on-arduino-portenta-h7/19011)

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**Author:** [@FraFin](https://discourse.openrobotics.org/u/FraFin)\
**Replies:** 6\
**Last updated:** [October 20, 2022, 5:18am UTC](https://discourse.openrobotics.org/t/micro-ros-on-arduino-portenta-h7/19011 "2022-10-20T05:18:36Z")

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Find out the new entry to the family of the micro-ROS officially supported boards: the Arduino Portenta H7! We completed the port to this board in parallel with our collaborator @lukicdarkoo. Soon after, we were able t…

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## [Undefined reference to \`rosidl\_typesupport\_c](https://discourse.openrobotics.org/t/undefined-reference-to-rosidl-typesupport-c/27680)

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**Author:** [@ROS\_Aotearoa](https://discourse.openrobotics.org/u/ROS_Aotearoa)\
**Replies:** 1\
**Last updated:** [October 10, 2022, 5:31am UTC](https://discourse.openrobotics.org/t/undefined-reference-to-rosidl-typesupport-c/27680 "2022-10-10T05:31:01Z")

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Yeah I understand to ask questions at http://answers.ros.org but it does not appear anyone know the answer to the questions I bring up. And I simply can’t spend more time waiting around, trying to get this working. 3 wee…

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## [micro-ROS module for STM32CubeMX!](https://discourse.openrobotics.org/t/micro-ros-module-for-stm32cubemx/19487)

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**Author:** [@FraFin](https://discourse.openrobotics.org/u/FraFin)\
**Replies:** 6\
**Last updated:** [August 30, 2022, 10:35am UTC](https://discourse.openrobotics.org/t/micro-ros-module-for-stm32cubemx/19487 "2022-08-30T10:35:01Z")

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During the last few days, we’ve been preparing an exciting - though still experimental - plaything: a micro-ROS module for the STM32CubeMX! The STM32CubeMX is a graphical tool for configuring STM32 microcontrollers a…

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## [Micro-Ros with Micropython](https://discourse.openrobotics.org/t/micro-ros-with-micropython/26791)

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**Author:** [@gentijo](https://discourse.openrobotics.org/u/gentijo)\
**Replies:** 1\
**Last updated:** [August 23, 2022, 8:14am UTC](https://discourse.openrobotics.org/t/micro-ros-with-micropython/26791 "2022-08-23T08:14:45Z")

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Before I jump into aa rabbit hole, I wanted to ask if there was any current work of incorporating Micropython with Micro-ROS ? If not, why ? Would it be a mem / compute power thing ? I would target the ESP32 series pa…

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## [SOLVED -\> Help debugging the MicroROS / Agent configuration, ESP32](https://discourse.openrobotics.org/t/solved-help-debugging-the-microros-agent-configuration-esp32/26792)

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**Author:** [@gentijo](https://discourse.openrobotics.org/u/gentijo)\
**Replies:** 2\
**Last updated:** [August 6, 2022, 12:00am UTC](https://discourse.openrobotics.org/t/solved-help-debugging-the-microros-agent-configuration-esp32/26792 "2022-08-06T00:00:08Z")

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Hi, I am trying to set up an ESP32 based bot running MicroROS connected to a my ROS host running on Docker. My base project has the device side subscribing to the /cmd\_vel topic, where I am trying to publish messages fro…

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