micro-ROS

https://micro.ros.org/

micro-ROS puts ROS2 onto microcontrollers

架构

micro-ROS_architecture.png

RCL
XRCE-DDS
micro-ROS PlatformIO
ROS2 Agent
ROS2 Message

Supported RTOSes

RTOS：FreeRTOS、Zephyr、NuttX