By installing ROS 2 nodes onto embedded micro-controller, robots can acquire better real-time performance and power efficiency. Of course, micro-ROS is a de-facto environment, but it is better to have different options to realize them. This talk proposes mROS 2, which realizes an agent-less and lightweight runtime environment compatible with ROS 2 for embedded devices. It consists of basic APIs that are mostly compliant with Rclcpp for the topic communication, an embedded version of the RTPS protocol stack, and a real-time kernel. We will demonstrate that embedded nodes can now directly communicate with native ROS 2 nodes via topics efficiently.
Presented by: Hideki Takase (The University of Tokyo)
