Hi,

I've written a post about ros2arduino before.

- [[ros2arduino] Discussion for development : ROS2 library for Arduino](https://discourse.ros.org/t/ros2arduino-discussion-for-development-ros2-library-for-arduino/6498)

And the [0.0.1 version of it is released!](https://github.com/ROBOTIS-GIT/ros2arduino/releases/tag/0.0.1)
It can be used with ROS2 Crystal Clemmys. (Previous versions are not supported)

And, this is currently [under registration with the Arduino Library Manager.](https://github.com/arduino/Arduino/issues/8295)

This is open source. Although we started with the initial concept, we hope to be a better library through the contributions of future users like rosserial.
<br>

Currently available boards and functions are listed below.

- **Available boards (What we've tested on our own)**
  - [OpenCR](http://emanual.robotis.com/docs/en/parts/controller/opencr10/)
  - [OpenCM9.04](http://emanual.robotis.com/docs/en/parts/controller/opencm904/)
  - Arduino MKR ZERO
  - Arduino DUE
- **Feature**
  - Only one node available
  - Publisher
  - Subscriber
- **Communication**
  - Serial (Only Serial instance avaliable)

Please refer to [REAMDE](https://github.com/ROBOTIS-GIT/ros2arduino) for other development plans and detailed usage.

In addition, it is also applied to TB3 ros2 core.
You can check this in [OpenCR 1.4.0](https://github.com/ROBOTIS-GIT/OpenCR/releases/tag/1.4.0) or later.





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