An embedded system supporting multiple ROS nodes that are able to communicate with one another using inter-process communication and with other ROS-compatible devices over a network. consists of an STM32F4Discovery board, the FreeRTOS os, embedded ROS middleware, embedded ROS client library, ROS nodes and sensor libraries application layer.

With this software, ROS developers do not have to know the complexities of the real-time operating system. ROS Client Library allows ROS developers to create Nodes, Publishers, Subscribers, and define ROS messages. This is why they can program their nodes as if they were writing code on a general-purpose computer.

The software includes two different scheduling schemes: priority and deadline. If deadline scheduling is enabled, application developers can assign deadlines to periodic tasks in order to make sure that they are completed before this deadline as long as the system is not overloaded.

• src/main : project main source code tree
• src/apps : freertos tasks for each ros nodes and node drivers
• src/board : bsp and device drivers for stm32f4discovery board
• src/device : device driver support
• src/core/os/kernel : freertos source code tree
• src/core/os/syslibs : math and io support librarys
• src/core/rcl : middleware for ros runable in embedded environment
• src/core/rmw : xml rpc server and client built on lwip udp
• src/core/lwip : lwip and port files for stm32f4
• scripts : cmake script file to generate the project makefile
• tutorials : ros node tutorials can be executed in embedded environment

This project is a experimental software, a fork of stm32

Much of the code and documentation enclosed is copyright by the Free Software Foundation, Inc. See the file copyright/license in the various directories