Frequently Asked Questions (FAQ)

Why use Ethernet instead of Serial for micro-ROS?

Ethernet offers significantly higher bandwidth, lower latency, and better scalability for complex ROS 2 systems. It also allows the microcontroller to reside on a standard IP network.

Can I use both cores for micro-ROS?

In this implementation, only the CM7 core runs the micro-ROS client and the LwIP stack. The CM4 core is reserved for time-critical auxiliary tasks (like high-speed sensor reading) that communicate with the CM7 via shared memory and HSEM.

Does this support ROS 2 Humble?

Yes, this project is fully compatible with ROS 2 Humble. Ensure your host agent and microk3 environment are also running Humble.

How do I change the IP address?

The static IP is currently configured in the CM7 source code within the LwIP initialization. See CM7 Configuration for details.

Why is my build failing on macOS?

Building the libmicroros.a library currently requires a Linux-based ROS 2 environment. We recommend using the provided Docker build method if you are on macOS or Windows.