This chapter provides you a number of tutorials to learn micro-ROS and relevant tools for the different RTOS supported by micro-ROS. We divided this chapter into two sections core tutorials and advanced tutorials.
If you are new to micro-ROS, we strongly suggest that you take the tutorials in the following order:
This tutorial teaches you how to install the micro-ROS framework and tools. Then it will guide you to developed your own first micro-ROS application under Linux. (If you already know ROS 2, you will see that the tools are well integrated with standard ROS 2.)
In this tutorial, you will learn how to build the application from the previous tutorial for an Real-Time Operating System (RTOS). You will see how to flash a microcontroller board with the application and how to communicate with it from a microprocessor running ROS 2 on Linux. (The tutorial covers all three RTOS supported by micro-ROS, namely NuttX, FreeRTOS, and Zephyr. The choice is up to you!)
You’ll learn the concepts of the micro-ROS C API in this tutorial in depth. If you are already familiar with the ROS 2 C++ API or even the underlying ROS Client Support Library (rcl), you’ll learn this very quickly.
In this tutorial, we’ll guide you through the configuration of the middleware between a microcontroller and the micro-ROS agent running on some Linux-based microprocessor, to optimize it for your specific use-case an application.