ROS Nuttx STM32

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ROS 2.0 for embedded systems using NuttX, Tinq and the STM32F4 IC with follow modular blocks:

----------------------------------
|           application           |
----------------------------------
|               rcl               |
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|            DDS (Tinq)           |
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|          RTOS (NuttX)           |
__________________________________

|        Hardware (STM32F4)       |
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build in docker

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build and install the docker gcc avr toolchain

git clone https://github.com/Lembed/ROS-Nuttx-STM32
cd ROS-Nuttx-STM32/tools/docker
docker build -t="ros-nuttx" .
cd ../../

to build skeleton, the first is to start up the docker and map the skeleton.c to docker

docker run  -v $(pwd):/opt/ros -it ros-nuttx bash

then build the source with docker tools use make

cd /opt/ros/nuttx/tools
./configure.sh stm3240g-eval/dds
cd ../nuttx/
make 

File structure

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• apps: NuttX applications. The subdirectory examples contains some of the DDS apps.
• tinq-core: Tinq's DDS implementation hacked to work with NuttX.
• misc: Variety of things.
• nuttx: The NuttX RTOS.
• NxWidgets: a special graphical user interface.
• rcl: ROS 2 Client Library (Ros Client Library) for embedded.
• README.md: this file.
• tools: a set of useful tools for development.

ROS Client Library

The ROS Client Library (rcl) for embedded (implemented under the rcl directory) allows to code ROS applications using the ROS 2 API. Refer to rcl.h for a list of functions.

A simple ROS publisher can be coded with:

#include "rcl.h"

int ros_main(int argc, char *argv[])
{
    /* Init the ROS Client Library */
    rcl_init();
    
    /* Create a ROS node */
    create_node();

    /* Init the dynamic types 
        TODO: abstract this code
    */
    init_types();

    /* Create a publisher
        TODO: specify message types, topics, etc.
    */
    create_publisher();

    int i;
    for (i=0; i<10; i++){
        publish("Hello ROS 2");
    }
}

Refer to the rcl/README.md for further instructions on how to use the ROS 2 API to code applications.

Applications

Applications are coded at apps/ros. Refer to apps/ros/publisher for an example.

license

Much of the code and documentation enclosed is copyright by the Free Software Foundation, Inc. See the file copyright/license in the various directories