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58 lines
2.5 KiB
Markdown
58 lines
2.5 KiB
Markdown
# micro-ROS Agent
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[](https://github.com/microROS/micro-ROS-Agent)
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[](https://github.com/microROS/micro-ROS-Agent/releases)
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ROS 2 package using Micro XRCE-DDS Agent.
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## Overview
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This repository contains the Micro-ROS Agent package.
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Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
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For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
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This package is a part of the Micro-ROS project stack.
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For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
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The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
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It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
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The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
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## Package features
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### XML generation
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During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
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These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
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This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
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### Agent-Client communication mechanism
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Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
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- UDP and TCP over IPv4 and IPv6.
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- Serial Port transports.
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All available configurations are supported directly by the Micro XRCE-DDS agent.
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## Purpose of the Project
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This software is not ready for production use. It has neither been developed nor
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tested for a specific use case. However, the license conditions of the
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applicable Open Source licenses allow you to adapt the software to your needs.
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Before using it in a safety relevant setting, make sure that the software
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fulfills your requirements and adjust it according to any applicable safety
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standards, e.g., ISO 26262.
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## License
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This repository is open-sourced under the Apache-2.0 license. See the [LICENSE](LICENSE) file for details.
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For a list of other open-source components included in this repository,
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see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
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## Known Issues/Limitations
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Please notice the following issues/limitations:
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* There is an unknown issue when dealing with serial ports shared with the micro-ROS agent running inside a Docker. Sometimes it works with a remarkable packet loss.
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