Pico-ROS, is an open-source, ultra-lightweight communications stack that leverages Zenoh middleware to enable true peer-to-peer ROS topic communication on resource-constrained microcontrollers. Unlike existing solutions relying on agents, or bridges, Pico-ROS allows microcontrollers to natively participate in ROS 2 systems using rmw_zenoh. Developed initially on STM32 with Eclipse ThreadX RTOS, we have developed a hardware-agnostic version that supports various microcontrollers and Linux devices.
Additionally, Pico-ROS provides an open-source hardware standard with a standardized connector pin out to enable creation of other Pico-ROS hardware that is compatible between manufacturers. An open hardware example that can accept Arduino shields and Grove modules, is provided.
To go to the Software repository
To go to the Hardware repository