MicroROS, combining advanced robotics and low-cost embedded systems
summary
Micro-ROS runs ROS 2 natively on tiny controllers so you can push real-time I/O and simple control onto devices like ESP32 and STM32 while heavy planning stays on a host. It integrates with FreeRTOS and, thanks to embedded RTPS over lwIP, removes the agent tether and joins standard DDS discovery. Demo shows servo-driven kinematics where inverse kinematics and path planning run on the laptop and servos respond — works but hobby servos introduce springy timing and the simple UDP transport limits high-throughput sensors.
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chapters (15)
- 0:00Introduction
- 1:06Understanding ROS
- 2:18Data Flow and Abstraction
- 4:24Hardware and Software Separation
- 6:12Introduction to Micro ROS
- 6:41Real-time Constraints and Timing
- 9:11Solutions for Deterministic Control
- 10:40History of ROS on Microcontrollers
- 12:21Micro ROS Architecture
- 14:33Decentralized Topology with DDS
- 16:24Robotic Demo and Simulation
- 20:46Inverse Kinematics and CAD
- 24:34Communication and Peripherals
- 27:16Security and Rapid Iteration
- 29:17Q&A and Conclusion
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