humble	jazzy	kilted	rolling

micro-ROS component for ESP-IDF

This component has been tested in ESP-IDF v5.4, v5.5, and v6.0 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.

Dependencies

This component needs colcon and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:

. $IDF_PATH/export.sh
pip3 install catkin_pkg colcon-common-extensions lark

Middlewares available

This package support the usage of micro-ROS on top of two different middlewares:

• eProsima Micro XRCE-DDS: the default micro-ROS middleware.
• embeddedRTPS: an experimental implementation of a RTPS middleware compatible with ROS 2. (CURRENTLY NOT WORKING)

In order to select it, use idf.py menuconfig and go to micro-ROS Settings > micro-ROS middleware

Usage

From the ESP Component Registry

To align with the semantic versioning scheme of the ESP Component Registry, the ROS 2 distribution release year is used as the major version of the component:

ROS 2 distro	Version
humble	22.x.y
iron	23.x.y
jazzy	24.x.y
kilted	25.x.y
lyrical	26.x.y

Rolling is published as a prerelease of the next version, for example 27.0.0-rolling.20260806.

This branch corresponds to rolling and publishes 27.0.0-rolling.YYYYMMDD versions.

Add the component to your project with the IDF Component Manager:

idf.py add-dependency "micro-ros/micro_ros_espidf_component>=27.0.0-rolling.0"

Or declare it in your main component's idf_component.yml:

dependencies:
  micro-ros/micro_ros_espidf_component: ">=27.0.0-rolling.0"

Then build your project as usual. The Component Manager downloads the latest matching rolling prerelease.

From this repository

You can also clone this repo into the components folder of your project:

cd your_project/components
git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git

If you encounter issues during the build process, ensure that you are running in a clean shell environment without the ROS 2 setup script sourced.

Example

In order to test a int32_publisher example:

. $IDF_PATH/export.sh
cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
idf.py build
idf.py flash
idf.py monitor

To clean and rebuild all the micro-ROS library:

idf.py clean-microros

Is possible to use a micro-ROS Agent just with this docker command:

# UDPv4 micro-ROS Agent
docker run -it --rm --net=host microros/micro-ros-agent:rolling udp4 --port 8888 -v6

Build with docker container

It's possible to build this example application using the official Espressif docker images, following the same steps:

docker run --name micro-ros-espidf-component -it espressif/idf:release-v6.0 bash

git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git
cd micro_ros_espidf_component/

# Install dependencies
pip install catkin_pkg colcon-common-extensions lark

cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
idf.py build
idf.py flash
idf.py monitor

Using serial transport

By default, micro-ROS component uses UDP transport, but is possible to enable UART transport or any other custom transport setting the colcon.meta like:

...
"rmw_microxrcedds": {
    "cmake-args": [
        ...
        "-DRMW_UXRCE_TRANSPORT=custom",
        ...
    ]
},
...

An example on how to implement this external transports is available in examples/int32_publisher_custom_transport.

Available ports are 0, 1 and 2 corresponding UART_NUM_0, UART_NUM_1 and UART_NUM_2.

Is possible to use a micro-ROS Agent just with this docker command:

# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:rolling serial --dev [YOUR BOARD PORT] -v6

Purpose of the Project

This software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards, e.g., ISO 26262.

License

This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open-source components included in ROS 2 system_modes, see the file 3rd-party-licenses.txt.

Known Issues/Limitations

There are no known limitations.