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 | - | - |