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micro-ros-setup

Configure MCU platforms and build micro-ROS nodes bridging to ROS 2 via XRCE-DDS.

18|2|Updated Apr 20, 2026
Search Tags:#ros2#microcontroller#micro-ros#xrce-dds#micro-ros-agent#teensy
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill micro-ros-setup
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: micro-ros-setup
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/micro-ros-setup
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill micro-ros-setup

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

micro-ROS on microcontrollers lets ROS 2 nodes run directly on constrained MCUs, bridging to a host ROS 2 network via an XRCE-DDS agent.

Core Features & Use Cases

  • Platform support: works with Teensy, ESP32, STM32, and other MCUs via micro-ROS.
  • Agent bridge: leverages micro_ros_agent to bridge XRCE-DDS to DDS on the host.
  • Use Case: deploy a simple publisher/subscriber on an MCU to publish sensor data like IMU readings to the ROS 2 graph.

Quick Start

Power up the MCU, install micro-ROS platform, and run the micro_ros_agent to connect the MCU to the ROS 2 network.

Frequently Asked Questions about micro-ros-setup

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I run ROS 2 nodes on a microcontroller like Teensy or ESP32?▼

To run ROS 2 nodes on a microcontroller, you can use micro-ROS by configuring your MCU platform and building nodes that bridge to a host ROS 2 network via the micro_ros_agent over XRCE-DDS.

What is the role of the micro_ros_agent in a micro-ROS setup?▼

The micro_ros_agent bridges XRCE-DDS traffic from the microcontroller to standard DDS on the host, allowing constrained MCU nodes to join the full ROS 2 network.

Can I use micro-ROS with STM32 microcontrollers to publish sensor data?▼

Yes, micro-ROS supports STM32, Teensy, and ESP32 MCUs, enabling you to deploy publisher or subscriber nodes that publish sensor data like IMU readings directly to the ROS 2 graph.

What do I need to connect a microcontroller to a ROS 2 network using micro-ROS?▼

You need to power the MCU, install the micro-ROS platform support, and run the micro_ros_agent on the host to connect the MCU to the ROS 2 network over XRCE-DDS.

Does micro-ROS use standard DDS or XRCE-DDS for microcontroller communication?▼

Micro-ROS uses XRCE-DDS for microcontroller communication, requiring a host micro_ros_agent to translate XRCE-DDS messages into standard DDS for the ROS 2 network.

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