Hello everyone,
Please, refer to the content below for a peek into a preliminary architecture of the micro-ROS European project that @Jaime_Martin_Losa brought up above (completely inspired in the work the OSRF is doing with ROS 2):
+-------------------------------------------------------------+
| embedded application layer |
+-------------------------------------------------------------+
| micro-ROS client library (urcl) |
e.g.: tf, lifecycle, executors, etc. |
+-------------------------------------------------------------+
| micro-ROS middleware interface (urmw) |
+-------------------+---------------------+-------------------+
| middleware 1 | middleware 2 | middleware 3 |
| (e.g. micro-RTPS) | (e.g. mqtt) | |
+-------------------+---------------------+-------------------+
| Real-Time Operating System (RTOS) abstractions |
+------------------+------------------+-----------------------+
| RTOS 1 | RTOS 2 | RTOS 3 |
| (e.g. NuttX) | (e.g. RIOT) | (e.g. Zephyr) |
+------------------+------------------+-----------------------+
| hardware |
+-------------------------------------------------------------+
The project started only recently. For those developing XRCE solutions, I believe it’s a good moment to start keeping an eye on it (@GerardoPardo, @kydos).
An entry point for the project is available at GitHub - micro-ROS/micro-ROS.github.io: A platform for seamless integration of resource constrained devices in the ROS ecosystem..