[ros-users] [Discourse.ros.org] [General] Introducing the XEL Network : Modular H/W ecosystem over ROS2

Ingo Lütkebohle ros.discourse at gmail.com
Thu Sep 20 07:50:12 UTC 2018

Thanks for the info on the protocol. btw, I *do* like the dynamixel protocol and think it's a great first choice. Just wondering about extensibility.

> Specifically, we plan to implement a library that can be used in Arduino(like rosserial_arduino).
The project name is **ros2arduino** (tentative).
Currently, the target board is MEGA2560 (8bit) and ZERO (32bit).

I know :-) You may remember I contacted you about that a few weeks ago, but I've been on a long holiday in the meantime.

Anyway, micro-ROS intends to produce both a ROS2 port, and a bare-metal/RTOS implementation. For bare-metal, we are using the rosserial blueprint, like you did.

In fact, I think your work would be a great base for the bare-metal implementation. I've had a look over the code in the OpenCR repository already, and since you're also using micro-RTPS, it would transfer nicely. We have a few different choices to also support RTOSes (optionally) and other transports, but otherwise, it's very close.
That's mainly what I wanted to discuss at ROSCon, but if you like, we can start earlier.

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