humble	jazzy	kilted	rolling

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.

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

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

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:

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.

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.

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

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

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

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.

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.

There are no known limitations.