Transports and Data Links

micro-ROS uses the resource-optimized DDS for Extremely Resource Constrained Environments (DDS-XRCE) standard, implemented by eProsima’s Micro-XRCE-DDS.

It supports a variety of data link and transport protocols. However, the support depends on the underlying RTOS and selected hardware.

The following table specifies the available transports for the Reference and Tier-2 micro-ROS boards for each officially supported RTOS. You can find detailed information about hardware support here.

  NuttX FreeRTOS Zephyr Arduino
Olimex STM32-E407 USB, UART, Network UART, Network USB, UART -
ST B-L475E-IOT01A - - USB, UART, Network -
Crazyflie 2.1 - Custom Radio Link - -
Espressif ESP32 - UART, WiFI UDP - -
Teensy 3.2 - - - USB, UART
Teensy 4.0/4.1 - - - USB, UART
ROBOTIS OpenCR 1.0 - - - USB, UART

Regarding the community supported boards, at the moment of writing the available transports are:

  NuttX FreeRTOS Zephyr Arduino
Arduino Due - - - USB, UART
Arduino Zero - - - USB, UART
ST Nucleo F446ZE - UART - -
ST Nucleo H743ZI - UART - -
ST Nucleo F746ZG - UART - -