WARNING: Development of this repository is taken over by the micro-ROS team. Please go to the micro-ROS/micro_ros_raspberrypi_pico_sdk repository that is actively maintained.

Raspberry Pi Pico and ROS 2

The Pico is an amazing microcontroller and I couldn't wait for ROS 2 support or Arduino Core, so here is my approach. Once the Arduino Core for RP2040 is out it will be easier to use micro_ros_arduino.

Getting Started

Here is a quick way to compile the example given in this repository.

1. Install Pico SDK

First, make sure the Pico SDK is properly installed and configured:

# Install dependencies
sudo apt install cmake gcc-arm-none-eabi doxygen libnewlib-arm-none-eabi
git clone --recurse-submodules https://github.com/raspberrypi/pico-sdk.git $HOME/pico-sdk

# Configure environment
echo "export PICO_SDK_PATH=$HOME/pico-sdk" >> ~/.bashrc
source ~/.bashrc

2. Compile Example

Once the Pico SDK is ready compile the example:

mkdir build
cd build
cmake ..
make

To flash, hold the boot button, plug the USB and run:

cp pico_micro_ros_example.uf2 /media/$USER/RPI-RP2

3. Start Micro-ROS Agent

Micro-ROS follows the client-server architecture, so you need to start the Micro-ROS Agent:

docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy serial --dev /dev/ttyACM0 -b 115200

What files are relevant?

• pico_ros.c: Contains the board specific implementation of the serial transport (no change needed).
• CMakeLists.txt: CMake file.
• pico_micro_ros_example.c: The actual ROS 2 publisher.

How Micro-ROS is compiled?

Micro-ROS is precompiled for Raspberry Pi Pico in uros_ws/firmware/build. If you want to compile it by yourself then check the uros_ws directory.

How to use Pico SDK?

Here is a Raspberry Pi Pico C/C++ SDK documentation:
https://datasheets.raspberrypi.org/pico/raspberry-pi-pico-c-sdk.pdf