Supported Hardware

Micro-ROS aims to bring ROS 2 to a wide set of microcontrollers to allow having first-class ROS 2 entities in the embedded world.

The main targets of micro-ROS are mid-range 32-bits microcontroller families. Usually, the minimum requirements for running micro-ROS in an embedded platform are memory constraints. Since memory usage in micro-ROS is a complex matter we provide a complete article describing it and a tutorial on how to tune the memory consuption in the micro-ROS middleware.

In general micro-ROS will need MCUs that have tens of kilobytes of RAM memory and communication peripherals that enable the micro-ROS Client to Agent communication.

The micro-ROS hardware support is divided into three categories:

  • reference micro-ROS board,
  • tier 2 boards and,
  • community supported boards.

In order to check the most recent hardware support visit the micro_ros_setup repo.

Reference micro-ROS board

The micro-ROS reference boards are the ones officially supported for all RTOSes and with complete support for all available transports.

Olimex LTD STM32-E407

Key features:
  • MCU: STM32F407ZGT6 Cortex-M4F
  • RAM: 196 kB
  • Flash: 1 MB
  • Peripherals: USB OTG, Ethernet, SD Card slot, SPI, CAN, I2C...
Resources:

Tier 2 micro-ROS boards

The micro-ROS Tier 2 boards are officially supported for one or more RTOSes and transports.

Espressif ESP32 DevKitC

Key features:
  • MCU: ultra-low power dual-core Xtensa LX6
  • RAM: 520 kB
  • Flash: 4 MB
  • Peripherals: Ethernet MAC, Wi-Fi 802.11 b/g/n, Bluetooth v4.2 BR/EDR, BLE, SPI, I2C, I2S, UART, SDIO, CAN, GPIO, ADC/DAC, PWM
Resources:

Teensy 3.2

Key features:
  • MCU: ARM Cortex-M4 MK20DX256VLH7
  • RAM: 64 kB
  • Flash: 256 kB
  • Peripherals: USB, SPI, I2C, CAN, I2S...
Resources: This board is supported under micro-ROS for Arduino

Teensy 4.0/4.1

Key features:
  • MCU: ARM Cortex-M7 iMXRT1062
  • RAM: 1024 kB
  • Flash: 2048 kB
  • Peripherals: USB, PWM, SPI, I2C, CAN, I2S, SDIO,...
Resources: This board is supported under micro-ROS for Arduino

ROBOTIS OpenCR 1.0

Key features:
  • MCU: ARM Cortex-M7 STM32F746ZGT6
  • RAM: 320 kB
  • Flash: 1024 kB
  • Peripherals: 3-axis IMU, Dynamixel ports, SPI, I2C...
Resources: This board is supported under micro-ROS for Arduino

STM32L4 Discovery kit IoT

Key features:
  • MCU: ARM Cortex-M4 STM32L4
  • RAM: 128 kB
  • Flash: 1 MB
  • Peripherals: Bluetooth, low-power RF module, 802.11 b/g/n, NFC, 2 digital microphone, temperature/humidity sensor, 3 axis IMU, ToF sensor...
Resources:

Crazyflie 2.1 Drone

Key features:
  • MCU: ARM Cortex-M4 STM32F405
  • RAM: 192 kB
  • Flash: 1 MB
  • Peripherals: 3 axis IMU, pressure sensor, SPI, I2C, UART, nRF51822 radio....
Resources:

Community supported boards

The micro-ROS community supported boards are contributions of micro-ROS’ users and community, and are not guaranteed to be officially supported.

Arduino Due

Key features:
  • MCU: ARM Cortex-M3 AT91SAM3X8E
  • RAM: 96 kB
  • Flash: 512 kB
Resources: This board is supported under micro-ROS for Arduino

Arduino Zero

Key features:
  • MCU: ARM Cortex-M0+ ATSAMD21G18
  • RAM: 32 kB
  • Flash: 256 kB
Resources: This board is supported under micro-ROS for Arduino

ST NUCLEO-F446ZE

Resources:

ST NUCLEO-F746ZG

Resources:

ST NUCLEO-H743ZI

Resources: