mROS
A lightweight runtime environment of ROS1 nodes onto embedded systems
Supported Platform
- Embedded board
- Host devices
- ROS Kinetic with Ubuntu 16.04
Development Platform/Tools for Host PC
- IDE: Atollic TrueSTUDIO
- Windows 10 Pro
- Ubuntu 16.04.5
- Currently we tested v.8.0.0, v.9.0.1 and v.9.1.0
- CUI
- macOS High Sierra 10.13.6 / arm-none-eabi version 5.4.1 20160609 (Launchpad distribution)
- Ubuntu 16.04 LTS / gcc-arm-none-eabi version 4.9.3 20150529 (apt package)
- $ sudo apt install gcc-arm-none-eabi
- Ubuntu 14.04.5 LTS / gcc-arm-none-eabi version 4.9.3 20150529 (Launchpad distribution)
Please let us know if you could develop and build another host OS.
SW Components
- asp-gr_peach_gcc-mbed
- Open-source Software Platform Based on TOPPERS/ASP Kernel, mbed and Arduino Library for Renesas GR-PEACH.
- located at
asp_mbed/asp-gr_peach_gcc-mbed as gitsubmodule
- opencv-lib
- located at
opencv-lib as gitsubmodule
- TOPPERS configurator
- located at
asp_mbed/cfg_binary
- (for Win) cfg-mingw-static-1_9_6.zip
- (for Linux) cfg-linux-static-1_9_6.gz
- $ sudo apt install libstdc++6 lib32stdc++6
- (for macOS) cfg-osx-static-1_9_5.gz
Features
- Topic based publish/subscribe communication with host devices (such as laptop)
- Automatic generation of header files for customized message types
How to get
$ git clone --recursive https://github.com/tlk-emb/mROS
--recursive option is mandatory since we use git submodules for SW components
Build
For host device (ROS applications)
source /opt/ros/kinetic/setup.bash
cd ros_catkin_ws/
catkin_make
For embedded device (mROS applications)
Configuring IP adderss
- Edit
mros_ws/<app>/mros_config/mros_sys_config.h
- Set the value of
MROS_MASTER_IPADDR as the IP address of the host PC
- Set the value of
MROS_NODE_IPADDR as the IP address of the embedded device,
or set the value of MROS_NODE_USE_DHCP as 1
(Optional) For generation of customized message
- Describe
GEN_MSGS = true on app's Makefile
- Edit app's JSON file such as
mros_ws/custom_pubsub/msg_app.json for the customization of message types if you prefer
- Specify headers for message types that are used in your app such as follows
"including_msgs": [
"custom_pubsub/UserTypeTest.h"
]
- Specify depending packages for message types such as
"depending_packages": [
"std_msgs",
"custom_pubsub"
]
python2 and jinja2 python package is needed to operate the message generation script
For CUI (terminal)
- cd to project dir such as
mros_ws/string_pubsub/
- Describe
USE_TRUESTUDIO = false or comment-out such as #USE_TRUESTUDIO = true on Makefile
$ make
For TrueSTUDIO
- Specify and open
mros_ws as workspace
- Import
mros_ws/* such as string_pubsub
- Describe
USE_TRUESTUDIO = true on Makefile
- You can build and debug the project on GUI
Examples
string_pubsub
- pub/sub communication between host/ROS and embedded/mROS.
- Each message is realized as
String type.
- mROS publishes the distance to obstacle by ultrasonic sensors
- We use SainSmart HC-SR04
- Start/Stop of publication can be switched by USER push-SW
- mROS subscribes the command for blinking LED
red / green / blue can be published from host/ROS
custom_pubsub
- pub/sub communication with customized MessageType
- custom_pub_sub/UserTypeTest
- PersonName nameVal
- string firstName
- string lastName
- LEDValues ledVal
- float32 red
- float32 green
- float32 blue
- mROS subscribes the customized message
- Print full name
- Blink LED
- mROS publishes the subscription data to host device
image_publisher
- mROS publishes image data from camera
- Host can subscribe the image with
$ rosrun image_view image_view /image:=/image_raw
Limitation & TODO
- Currently we cannot support following primitive types
- Support the edge detection example application
License
References