Hi Peter,

Was your approach a counterpart of rosserial on Arduino?

Our approach can communicate directly with a ROS master on a PC via UDPROS (over Ethernet), so there is no need for a rosserial server. As for message generation, I simply used rosserial's C++ message header generation and copied some of those headers into my code. A message generator can be added to the repo later for generating messages before compiling the software.

The code is actually ready for testing. Currently, STM32 can publish IMU and ultrasonic sensor values to a PC. I will also do some performance evaluation to see the limits, i.e. max number of nodes, publishers, subscribers, etc.

-Yigit

On 07/08/2015 10:22 AM, Peter Rudolph wrote:
Before ROSCON 2013 I did similiar things. I implemented a lightweight ROS in C. Had also an IMU demo with an STM32F4 board ;-) ... I posted this in the SIG embedded, but did not have any time to maintain it. So how ready is your stuff (I will have a look into repo later) ? Do you also have a code generator for standard ROS message generation in C (as single header file, like me did)? I used standard serial (RS-232 or USB) to communicate between uC and PC, and managed to use the available ROS-Serial pc-node to use my uC.

Regards,
Peter

2015-07-07 15:07 GMT+02:00 Yigit Gunay via ros-users <ros-users@lists.ros.org>:
Hello everyone,

We are developing a lightweight implementation of the ROS middleware on STM32F4Discovery for interfacing embedded and general-purpose software. Currently, we can run multiple ROS nodes concurrently on STM32, and we can send ROS messages between a PC and STM32 over Ethernet (only UDPROS).

Please take a look at our repository on Github if you are interested in our real-time ROS development: https://github.com/bosch-ros-pkg/stm32.

I would appreciate your comments. Thanks for your attention!

Best regards,
Yigit Gunay
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