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micro-ROS puts ROS2 onto microcontrollers, making them first class participants of the ROS 2 environment.

From the level of ROS onwards, we strive to re-use as much as possible from ROS 2, and be as compatible with it as possible. In some areas, we will probably do custom implementations optimized for resource use. This will definitely include TF, and maybe other areas such as scheduling. These optimized implementations may also be interesting for use with “normal” ROS2.

We’ll update this README as we proceed. For now, you can check out our work on:


In the road-map of the project, interoperability tasks are also considered. Apart from ROS (1) and ROS 2, H-ROS interoperability is going to be also granted, thanks to HRIM. HRIM is an information model for robots that facilitates interoperability among modules from different vendors of robot hardware.

Interoperability between micro-ROS and FIROS 2 is also in the road-map of the project. POC developed and first designs and integration ideas can be checked in the FIROS2 subpage.


The micro-ROS architecture is a work in progress. It’s modular and built with the following ingredients:

A first approach (yet not final) of the architecture is represented below:

Got questions, open an issue and we’ll get back to you as soon as possible.