micro-ROS

micro-ROS extends the Robot Operating System 2 (ROS 2) framework to resource-constrained microcontrollers (MCUs), integrating them as first-class participants.

micro-ROS is the critical framework bridging the gap between ROS 2 and deeply embedded systems. It ports core ROS 2 concepts—nodes, publish/subscribe, and services—directly onto MCUs. The system utilizes a microcontroller-optimized client API (rcl+rclc) and the DDS-XRCE middleware, specifically designed for extremely resource-constrained environments (tens of kilobytes of RAM). This architecture employs a client-agent model: the micro-ROS node runs on the MCU, communicating via a micro-ROS agent on the host, ensuring seamless interoperability with the standard ROS 2 stack. It supports multiple Real-Time Operating Systems (RTOS), including FreeRTOS, Zephyr, and NuttX, and targets popular boards such as the Espressif ESP32 and Arduino Portenta H7.

https://micro.ros.org/