[ros-users] Real-Time ROS for Embedded Systems

Yigit Gunay yigit.guenay at rwth-aachen.de
Wed Jul 8 08:46:24 UTC 2015

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.


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 at lists.ros.org <mailto:ros-users at 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
>     _______________________________________________
>     ros-users mailing list
>     ros-users at lists.ros.org <mailto:ros-users at lists.ros.org>
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