MICRO_ROS_ETH

Ethernet-based micro-ROS on STM32H7 dual-core microcontrollers.

Key Features

Cortex-M7 (480 MHz) + Cortex-M4 (240 MHz) with FreeRTOS and LwIP for low-latency communication.

Optimized XRCE-DDS over Ethernet transport layer for seamless ROS 2 integration.

Real-time monitoring via microk3 Flask-based REST API and web UI.

Test firmware in Renode with custom sensor models before hardware deployment.

STM32H7 dual-core build system, CM7/CM4 split, and HSEM synchronization.

Transport layer, RMW configuration, and ROS 2 topic mapping.

Flask dashboard setup, REST API reference, and rclpy bridge.

Renode scripts, sensor modeling, and automated test runner.

Jetson Orin NX deployment and Hardware-in-the-Loop workflows.

Wiring diagrams, pinouts, and supported development boards.