Links to Software Repositories. The Micro-ROS client library package is a set of repositories: RCLC: This repository contains RCLC user layer and the real-time executor implementation. • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/rclc Branch Latest commit ROS 2 version master 47972f8 dashing master 47972f8 eloquent master 47972f8 foxy master 47972f8 rolling • Git repository: xxxxx://xxxxxx.xxx/ros2/rclc Branch Latest commit ROS 2 version master 6e45370 dashing master 6e45370 eloquent master 6e45370 foxy master 6e45370 rolling micro-ROS-demos: This repository has examples using rcl and rclc to easily get started with the task of developing a micro-ROS application. • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/micro-ROS-demos Branch Latest commit ROS 2 version crystal 89d454f crystal dashing b3ecd0d dashing foxy 969d7a1 foxy micro_ros_setup: Micro ROS build-system repository. Using this repository, users can easily create and cross-compile applications for reference hardware. • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/micro_ros_setup Branch Latest commit ROS 2 version crystal 2138d50 crystal dashing 26e9b77 dashing foxy 0f514e7 foxy docker: This repository holds a set of docker files which generate docker images with ready to use environments. • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/docker Branch Name Latest commit ROS 2 version crystal 3b800b2 crystal dashing 37e28cf dashing foxy 1e323d3 foxy 4 Annex 1: GitHub micro-ROS website Content of xxxxx://xxxxx-xxx.xxxxxx.xx/docs/concepts/client_library/ from 11th December 2020. The client library provides the micro-ROS API for the user code, i.e. for application-level micro-ROS nodes. The overall goal is to provide all relevant, major ROS 2 concepts in suitable implementation for microcontrollers. Where possible, API compatibility with ROS 2 shall be achieved for ease of portability. In this undertaking, to minimize the long-term maintenance cost, we strive to use existing data structures and algorithms from the ROS 2 stack or to bring necessary changes in the mainline stack. This raises a lot of question regarding the applicability of existing ROS 2 layers on microcontrollers in terms of runtime efficiency, portability to different RTOS, dynamic memory management, etc.
Links to Software Repositories. The parser for the system modes model and the mode inference mechanisms (including the ex- tended lifecycle) are provided in a repository named system_modes, together with two ROS nodes for mode management and mode monitoring. • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/system_modes Package name: system_modes Package path: ./system_modes Fixed bugs: #2, #3, #7 Demo of system modes concept and implementation in same repository: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/system_modes Package name: system_modes_examples Package path: ./system_modes_examples The system modes package and the system modes example package were bloomed and released for the ROS 2 distributions Crystal, Dashing, and Eloquent: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/system_modes-release Releases: ROS 2 Crystal (0.1.3-1), ROS 2 Dashing (0.1.4-1), ROS 2 Eloquent (0.1.5-1) The ROS diagnostics aggregator package was ported to ROS 2 to enable integration with system modes in ROS 2 systems: • Git repository: xxxxx://xxxxxx.xxx/ros/diagnostics Package name: diagnostic_aggregator Package path: ./diagnostic_aggregator Pull request: ros2_diagnostics/pull/2 Documentation of the system modes package on the micro-ROS website was updated to cover the latest developments: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/xxxxx-XXX.xxxxxx.xx Commits: #c5504fa, #c07b172 3 Annex 1: Webpage on System Modes Content of xxxxx://xxxxx-xxx.xxxxxx.xx/system_modes/ from 5th December 2019.
Links to Software Repositories. The rmw_microxrccedds is provided as a ROS2 package available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/rmw-microxrcedds.git Branch Latest commit ROS 2 version /feature/foxy_migration b5c7bc0 foxy dashing cee44c0 dashing/eloquent crystal 5c55709 crystal The rosidl_typesupport_microxrcedds is provided as a ROS2 packages available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/rosidl_typesupport_microxrcedds.git Package names: – rosidl_typesupport_microxrcedds_c – rosidl_typesupport_microxrcedds_cpp Branch Latest commit ROS 2 version /feature/foxy_migration f54877f foxy dashing e99734f dashing crystal cff523d crystal Documentation of the project has been migrated to xxxxx-XXX.xxxxxx.xx and a build system tool has been created in order to ease the utilization. The micro-ROS build system is available at: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/micro-ros-build.git Branch Latest commit ROS 2 version /feature/foxy_migration 111db03 foxy dashing ffbd034 dashing/eloquent crystal 2138d50 crystal 5 Annex 1: GitHub documentation (rmw)
Links to Software Repositories. The Micro-ROS client library package is provided as a package of ROS2: • Git repository: xxxxx://xxxxxx.xxx/microROS/rclc Package name: rclc Package path: ./rclc Commit: f0816ba3e1e60663d7d79700366d0f88a8cf4262 Package documentation: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-doc Path: ./rclc Commit: d7864d8073a3645a950a63a9dc9b764f34ee4d77 5 Annex 1: GitHub documentation
Links to Software Repositories. The rmw_microxrccedds is provided as a ROS2 package available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/rmw-microxrcedds.git Branch Latest commit ROS 2 version main f738f9c rolling galactic 50cdbf8 galactic foxy 1155805 foxy dashing cee44c0 dashing/eloquent crystal 5c55709 crystal The rosidl_typesupport_microxrcedds is provided as a ROS2 packages available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/rosidl_typesupport_microxrcedds.git Package names: • rosidl_typesupport_microxrcedds_c Branch Latest commit ROS 2 version main 7efacee rolling galactic 35b1212 galactic foxy 197b1ae foxy dashing e99734f dashing crystal cff523d crystal API references for most important parts of the micro-ROS framework can be found in mi- xxx.xxx.xxx/xxxx/xxx/xxxxxxxx/. Documentation of the project has been migrated to xxxxx.xxx.xxx and a build system tool has been created in order to ease the utilization. The micro-ROS build system is available at: • Git repository: xxxxx://xxxxxx.xxx/micro-ROS/micro_ros_setup.git Branch Latest commit ROS 2 version main 0c61c67 rolling galactic 92599b1 galactic foxy e920c89 foxy dashing ffbd034 dashing/eloquent crystal 2138d50 crystal 5 Annex 1: GitHub documentation (rmw) Content of README.md of rmw_microxrccedds repo from 25th November 2021.
Links to Software Repositories. The FIROS2 package is provided as a ROS2 package available at: • Git repository: xxxxx://xxxxxx.xxx/eProsima/FIROS2 Package name: firos2 Branch: feature/TCP_DynTypes Commits: a3c8e1a FIROS2 package documentation available at: • Git repository: xxxxx://xxxxxx.xxx/eProsima/FIROS2 File: ./README.md Branch: feature/TCP_DynTypes Commits: a3c8e1a FIROS2 demo available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-demos Package name: int32_firos2 Package path: ./Cpp/int32_FIROS2 Branch: feature/FIROS2 Commits: cb2bb33 5 Annex 1: Webpage on FIROS2 content of xxxxx://xxxxxxxx.xxxxxx.xx/FIROS2/ from 27th December 2018
Links to Software Repositories. The rmw_microxrccedds is provided as a ROS2 package available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/rmw-microxrcedds.git Branch Latest commit ROS 2 version master e73ab9e crystal feature/dashing_migration a63ca55 dashing Package rmw documentation available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-doc.git Branch Latest commit ROS 2 version crystal 87fa50f crystal feature/dashing_migration 2a77918 dashing The rosidl_typesupport_microxrcedds is provided as a ROS2 packages available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/rosidl_typesupport_microxrcedds.git Package names: – rosidl_typesupport_microxrcedds_c – rosidl_typesupport_microxrcedds_cpp Branch Latest commit ROS 2 version develop cff523d crystal feature/dashing_migration 4f3fde8 dashing Package rosidl_typesupport_microxrcedds documentation available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-doc.git Branch Latest commit ROS 2 version crystal 87fa50f crystal feature/dashing_migration 2a77918 dashing Documentation is under migration progress to xxxxx-XXX.xxxxxx.xx at the time of this report they have not suffer mayor changes from previous status. 5 Annex 1: GitHub documentation (rmw)
Links to Software Repositories. For communicate micro-ROS with FIWARE using XXXX, the user will need, FIWARE System handler to connect XXXX and FIWARE: • Git repository: xxxxx://xxxxxx.xxx/eProsima/XXXX-FIWARE Branch: feature/xtypes-support Commits: a4ba23e User will also need XXXX and the ROS 2 System Handler, both hosted in: • Git repository: xxxxx://xxxxxx.xxx/eProsima/soss_v2/ Branch: feature/xtypes-support commits: 840c73a ROS 2 System handler: /packages/ros2 5 Annex 1: FIWARE System Handler content of xxxxx://xxxxxx.xxx/eProsima/XXXX-FIWARE/blob/feature/xtypes-support/README.md from 23th December 2019 xxxx-commit 660078e System handle to connect XXXX to FIWARE
Links to Software Repositories. The tf2 filter node are provided in a micro-ROS fork of the ROS geometry2 package: • Git repository: xxxxx://xxxxxx.xxx/microROS/geometry2/ Package name: tf2_filter Package path: ./tf2_filter Pull request: 760ef72 Markdown source of the xxxxxxxx.xxxxxx.xx/xxxxxxxx_xx/ webpage: • Git repository: xxxxx://xxxxxx.xxx/microROS/xxxxxxxx.xxxxxx.xx Webpage path: ./embedded_tf/ Major commits: 7153cef 3 Annex 1: Webpage on Embedded TF Content of xxxxx://xxxxxxxx.xxxxxx.xx/embedded_tf/ from 17th December 2018.
Links to Software Repositories. The micro-ROS agent is provided as a ROS2 package available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-Agent.git Package name: uros_agent Package path: ./uROS_Agent commit: 8cb1bfe91aa99c88effbc4b6d0cebf0bf610f456 The micro-ROS agent module is provided as a ROS2 package available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-Agent.git Package name: microxrcedds_agent_cmake_module Package path: ./microxrcedds_agent_cmake_module commit: 8cb1bfe91aa99c88effbc4b6d0cebf0bf610f456 Package documentation is available at: • Git repository: xxxxx://xxxxxx.xxx/microROS/micro-ROS-doc.git Package path: ./MicroROS_Agent Commit: d7864d8073a3645a950a63a9dc9b764f34ee4d77 5 Annex 1: GitHub documentation
