Micro-XRCE-DDS VS micro_ros_arduino

The ROS2Arduino library support more powerful Arduino Boards with at lest 32KB RAM and a TCP/IP hardware. Internally, it is build on top of the Micro XRCE-DDS framework, which provides Serial, UDP or TCP connections. According to the documentation, it only supports ROS2 up to the Dashing Diademata distribution.

set(dds-xrce_VERSION v2.0.0) set(micro-cdr_VERSION v1.2.1) FetchContent_Declare( micro-cdr GIT_REPOSITORY https://github.com/eProsima/Micro-CDR.git GIT_TAG ${micro-cdr_VERSION} ) FetchContent_Declare( dds-xrce GIT_REPOSITORY https://github.com/eProsima/Micro-XRCE-DDS-Client.git GIT_TAG ${dds-xrce_VERSION} )

As far as micro controllers go, it's possible to implement a ROS node on both a raspi pico and arduino that allows them to share data with higher level nodes. That said, these specific implementations are a feature of ROS2. Previously, under the the original ROS, microcontrollers were more treated as 2nd class citizens and relied on a rosserial interface node to communicate with the full network.

I recommend using the Arduino library for Micro-ROS. https://github.com/micro-ROS/micro_ros_arduino

MicroROS is a project to implement a complete ROS2 node in your microcontrollers. The experimental MicroROS Arduino branch extends Arduino programs with additional C/C++ headers for full ROS2 compatible message subscription and publication. Specifically, its provides as precompiled binaries that support specific Microcontrollers such as the Arduino Nano RP2040 Connect or the Teensy 4.1. The list of natively supported ROS messages is impressive.

Hint: You may get some ideas on how everything works from https://github.com/micro-ROS/micro_ros_arduino/blob/foxy/extras/library_generation/library_generation.sh