micro-ROS demos for Renesas e² studio

This package provides example projects for using micro-ROS in a Renesas e² studio. All demos target Renesas RA family, an ARM Cortex-M based MCU series, enabling a full micro-ROS compatibility for developing robotics and IoT applications.

• micro-ROS demos for Renesas e2 studio
  • Target platform
  • Requirements
  • Available demos
  • Demo Videos
  • Getting started
  • Using the micro-ROS Agent
  • License
  • Known Issues / Limitations

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Target platform

MCU	Family	Reference board	Transports
RA6M5	RA Series	EK-RA6M5	USB-CDC Serial UART UDP (FreeRTOS + TCP) UDP (ThreadX + NetX) TCP (AWS Secure Sockets) CAN FD
RA6T2	RA Series	MCK-RA6T2	Serial UART CAN FD
RA8T2	RA Series	MCK-RA8T2	UDP (FreeRTOS + TCP)

Requirements

• Renesas e² studio for Linux¹
• FSP v6.1.0 (backwards compatible from 5.6.0) board packs for Renesas e² studio: Details.
• GNU Arm Embedded Toolchain v10.3.1.20210824 (Other compatible toolchain may work).
• Install colcon and dependencies, for example with:

pip3 install colcon-common-extensions catkin_pkg lark-parser empy

¹ Currently only support for Linux is available

Available demos

Board	RTOS	Transport	Description	Folder
EK-RA6M5	Bare Metal	CAN FD	micro-ROS using a CAN FD transport	micro_ros_can
	Bare Metal	UART	micro-ROS using a serial UART transport	micro_ros_uart
	Bare Metal	USB	micro-ROS using a serial USB-CDC transport	micro_ros_usb
	FreeRTOS	UDP	micro-ROS using a network transport and FreeRTOS + TCP	micro_ros_udp_freertos
	FreeRTOS	UDP	micro-ROS using a network transport and FreeRTOS + TCP in a multithread approach	micro_ros_udp_freertos_multithread
	FreeRTOS	TCP	micro-ROS using a wifi network transport and AWS Secure Sockets	micro_ros_tcp_freertos
	ThreadX	UDP	micro-ROS using a network transport and ThreadX + NetX	micro_ros_udp_threadx
MCK-RA6T2	Bare Metal	CAN FD	micro-ROS using a CAN FD transport	micro_ros_can
	Bare Metal	UART	micro-ROS using a serial UART transport	micro_ros_uart
MCK-RA8T2	FreeRTOS	UDP	micro-ROS using a network transport and FreeRTOS + TCP	micro_ros_udp_freertos

Demo Videos

A set of step-by-step demonstration videos for micro-ROS with Renesas e2studio

Board	Description	Link
EK-RA6M5	micro-ROS getting started video	link
EK-RA6M5	micro-ROS Service demo	link
EK-RA6M5	micro-ROS over Wifi	link
EK-RA6M5	micro-ROS publisher demo	link
EK-RA6M5	micro-ROS parameter demo	link
MCK-RA6T2	BLDC Motor Controller using Microros over CAN FD	link
MCK-RA8T2	micro-ROS over UDP (FreeRTOS)	link

Getting started

For using those demos, just clone recursively this repository in your computer with:

git clone --recurse-submodules https://github.com/micro-ROS/micro_ros_renesas_demos

Open Renesas e² studio, import some of them, and finally build and flash

Using the micro-ROS Agent

It is possible to use a micro-ROS Agent just by using this docker command:

# UDPv4 micro-ROS Agent
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6

# TCPv4 micro-ROS Agent
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO tcp4 --port 8888 -v6

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

# CAN FD micro-ROS Agent
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO canfd --dev [YOUR CAN INTERFACE] -v6

There are some other options for using the micro-ROS Agent:

• Building it in a ROS 2 environment: Details.
• Using a snap package.

License

This repository is open-sourced under the Apache-2.0 license. See the LICENSE file for details. To find a list of other open-source components included in this repository, see the file 3rd-party-licenses.txt.

Known Issues / Limitations

There are no known limitations.