Iñigo Muguruza Goenaga (Erle Robotics), Juan Flores Muñoz (Erle Robotics), Víctor Mayoral Vilches (Erle Robotics), Loïc Dauphin (INRIA), Emmanuel Baccelli (INRIA), Cedric Adjih (INRIA)
roscon.ros.org/2018/
We introduce an extension of ament that proposes a new way of porting ROS 2 packages without modifications to microcontrollers. Our prototype cross-compiles packages into RTOS-specific projects that can later be compiled for the target platform. This work leads towards a ROS 2 meta cross-compilation setup that enables the use of microcontrollers as first-class participants of the ROS ecosystem while configuring their structure to meet the requirements by selecting through a variety of aspects such as RTOS, middleware, etc. We demonstrate this arrangement for two RTOSs, namely RIOT and NuttX, with microcontrollers as tiny as 32Kb RAM and 256Kb Flash.
