LearnMore.md

ROSMicroPy

ROSMicroPy is a tightly coupled integration of MicroROS and Micropython, multithreaded, async message, Python based ROS2 firmware for embedded microprocessor devices

Features Include

SDK to control the ROS Stack

• Start / Stop ROS Stack
• Set the Address of the ROS Agent
• Set the Node name of the device
• Publish messages
• Subscribe to messages
• Run a server process
• Support for all standard ROS and Custom Types
• On device, dynamic on-the-fly, type creation

Full Container Support

How to's on creating the supporting containers include:

• Creating a container for Firmware development
• Creating a container to run the ROS Agent
• Creating a container to run TeleopKey from Turtlesim
• Creating a container to run graphical ROS apps

How to get started

• Flash device and run

• Introduction to Python / ROS Robot Coder Development

• Advanced: How to setup the firmware development environment

Thonny Support

- **[Plugin to compile ROS Types and store to the device](/docs/thonny/thonnyROSTypeSupportPlugin.md)**

ROSMicro Type Support

• Running the ROS Type Python generator

Compiling ROSMicroPy

Micropython ROS Intergration Details

• Build System
• Connecting the different Threading Models
• Type Support
• Subscribing to an event
• Callback functions on Message Receive events
• Publishing ROS messages
• ROS Server support

idf.py -D MICROPY_BOARD=RMP_LCD_CONTROLLER -DMICROPY_BOARD_VARIANT=SPIRAM_OCT -DUSER_C_MODULES=../../../../modules flash