The document describes a robotic framework designed for robotic applications on microcontrollers (MCUs) integrated with ROS 2 Micro-ROS Galactic. Key features include multi-serial transport, parameter server functionality, static type introspection, and client multithreading support across various platforms like Teensy, Arduino, and Raspberry Pi. It highlights improvements in memory optimization, entity creation, and time synchronization for enhanced performance.

1. Robotic framework intended to facilitate robotic
applications running on MCUs and bring them into ROS 2
micro-ROS Galactic
03/06/2021
Github
ROS Discourse

2. MAIN
FEATURES
(1/2)
Agent multiserial transport
Serial micro-ROS Agent allows multiple
boards in the same instance 03
Parameter server
It allows the ROS 2 parameters to be
set in a micro ROS node 01
Static type introspection handler
Galactic enables full static memory when
using ROS 2 types 02
Continuous fragment mode
Big write (+64 kB) tweak 04
Throughput optimization

3. MAIN
FEATURES
(2/2)
General improvements
Client to Agent ping functionality
Intra-MCU shared memory transport
Time and epoch synchronization with Agent
Fully configurable static memory operation
06
Binary entity creation support
04
05
Client multithreading support
Optimized ROS 2 entity
creation mode
Run your micro ROS entities
in different RTOS threads

4. PLATFORMS SUPPORT
Teensy 3.2 / 3.5 / 4.1 / 4.2 Arduino Portenta / Nano
RP2040 Connect
The new Nano RP2040: The first
Arduino with Raspberry Pi silicon
Mbed RTOS 6.8 / 6.9 / 6.10
OpenCR support
Raspberry Pi Pico / Nano
RP2040 Connect NuttX 10.0 / 10.1
Zephyr RTOS 2.4 / 2.5
STM32CubeMX &
STM32CubeIDE
ESP-IDF v4.3 &
ESP32-S2/C3

5. micro-ROS Galactic 03/06/2021