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micro-ROS Humble Hawskbill

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micro-ROS Humble Hawksbill Release
June 2022

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Introduction
micro-ROS Humble Hawksbill is a LTS release compatible with ROS 2 Humble
Hawksbill and based (by default) on ...

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Introduction
Some of the most important updates for this version are:
● micro-ROS middleware upgrades to Micro XRCE-DDS v2...

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micro-ROS Humble Hawskbill

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This slides are a recap from the micro-ROS Humble Haskbill release, including all the new updates included from micro-ROS and Micro XRCE-DDS 2.1.1

Watch the live presentation at: https://www.youtube.com/watch?v=PCZr0umED-0&t=1161s

This slides are a recap from the micro-ROS Humble Haskbill release, including all the new updates included from micro-ROS and Micro XRCE-DDS 2.1.1

Watch the live presentation at: https://www.youtube.com/watch?v=PCZr0umED-0&t=1161s

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micro-ROS Humble Hawskbill

  1. 1. micro-ROS Humble Hawksbill Release June 2022
  2. 2. Introduction micro-ROS Humble Hawksbill is a LTS release compatible with ROS 2 Humble Hawksbill and based (by default) on the newest versions of eProsima middleware: Fast DDS and Micro XRCE-DDS. Some of the most important updates for this version are…
  3. 3. Introduction Some of the most important updates for this version are: ● micro-ROS middleware upgrades to Micro XRCE-DDS v2.1.1 ● micro-ROS RCLC user API upgrades ● micro-ROS RMW upgrades ● micro-ROS hardware support ● Bug fixing & performance improvements
  4. 4. Micro XRCE-DDS v2.1.1 The default middleware for micro-ROS (client & agent) is eProsima Micro XRCE-DDS v2.1.1 that includes: ● Binary Entity Creation Mode ● Multithreading support in Client side ● CAN/FD transport support ● Multiserial Agent support ● Client shared memory support ● Hard-liveness check ● Bug fixing & performance improvements
  5. 5. RCLC new APIs RCLC is the default C99 user API layer for micro-ROS. The new Humble release includes: ● RCLC Action client & server micro-ROS provides a complete API for handling action goals, responses, feedback and results. Fully configurable in terms of memory usage and integrable in RCLC real-time executor. ● RCLC Parameter Server micro-ROS provides an API for managing parameter servers. Two modes available: one for feature completeness and other for low memory profiles. ● RCLC QoS API micro-ROS provides new APIs for fine-tuning Quality of Service beyond default profiles (default reliability and default best-effort).
  6. 6. RMW upgrades RMW layer in micro-ROS has evolved with the following features: ● RMW Micro XRCE-DDS Timeout API Fine tuning for middleware timing and blocking process in order to allow real-time operation. ● RMW Micro XRCE-DDS Full Static Memory Complete dynamic memory free RMW and middleware layer ● RMW Micro XRCE-DDS Binary Entity Creation Throughput improvements and entity creation flexibility avoiding complex XML configuration ● RMW embeddedRTPS New RTPS/DDS-ready middleware layer for micro-ROS with an agent-less approach ready to use in ST Cube IDE and ESP-IDF frameworks.
  7. 7. Hardware support for micro-ROS The support for micro-ROS hardware and boards continue increasing to cover all major development platforms: ● New platforms: ○ Microsoft Azure RTOS ○ Platform.IO ○ TI Tiva™ C Series ○ STM32 Cube ● Modularity approach instead of micro_ros_setup ● Upgraded platforms for Humble: ○ Espressif ESP-IDF ○ Zephyr RTOS ○ ARM MBed RTOS ○ Nuttx RTOS ○ micro-ROS for Arduino IDE / CLI ○ Raspberry Pi Pico SDK
  8. 8. Minor improvements Huge amount of bug fixes and performance improvements (most of them thanks to the community feedback) in terms of: ● Memory usage Less static and stack memory usage and zero dynamic memory at runtime ● Multithreading Lock free and multi thread enabled API for scheduling micro-ROS operations in different processes or tasks ● Reliability Reliability in terms of execution and middleware communication (i.e: ping, hard-liveliness…) ● Real-time ready Controller and user configured blocking calls and advanced realtime features such as RCLC executor
  9. 9. Thank you!

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