MicroROS Class Reference

micro-ROS interface for vehicle control and odometry on Arduino/ESP32. More...

#include <MicroROS.h>

Inheritance diagram for MicroROS:

Collaboration diagram for MicroROS:

Public Member Functions
	MicroROS (const char *node_name="tinyrobotics_node")
void	setCallback (void(*cb)(const void *msgin))
bool	begin ()
bool	sendOdometry (const nav_msgs__msg__Odometry &msg)
	Publish odometry message.
bool	sendOdometry (const MotionState3D state)
	Publish odometry message.
bool	sendOdometry (Coordinate< DistanceM > position, Orientation3D orientation)
	Publish odometry message.
bool	sendPoint (const geometry_msgs__msg__Point32 &msg)
	Publish Point32 (occupancy grid map message not available in micro-ROS)
bool	sendCoordinate (const Coordinate< DistanceM > &coordinate)
template<typename T >
bool	sendMap (IMap< T > &entry)
	Publish Point32 (occupancy grid map message not available in micro-ROS)
rclc_executor_t &	getExecutor ()
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)

Protected Member Functions
bool	onMessage (const Message< float > &msg) override
	Handle an incoming message (pure virtual).
bool	onMessage (const Message< MotionState3D > &msg) override
bool	onMessage (const Message< Coordinate< float > > &msg)

Protected Attributes
const char *	ros_node_name = nullptr
void(*	cmd_callback )(const void *msgin) = nullptr
bool	is_tranport_defined = false
rcl_node_t	node
rclc_executor_t	executor
rclc_support_t	support
rcl_allocator_t	allocator
rcl_subscription_t	sub_cmd
rcl_publisher_t	publisher
geometry_msgs__msg__Twist	cmd_msg

Detailed Description

micro-ROS interface for vehicle control and odometry on Arduino/ESP32.

Note

Install the micro_ros_arduino library

This class sets up a micro-ROS node e.g. for an Ackermann steering robot, subscribing to velocity commands (geometry_msgs/Twist on /cmd_vel) and publishing odometry (nav_msgs/Odometry on /odom).

Features:

• Receives velocity commands e.g. to converts them to Ackermann steering and speed.
• Publishes odometry
• Publishes occupancy grid maps from IMap interface received.
• Uses micro-ROS Arduino library for communication.
• User provides a callback for handling incoming Twist messages.

Usage:

1. Call setCallback() to provide a function for handling incoming /cmd_vel messages.
2. Call begin() to initialize micro-ROS and set up publishers/subscribers.
3. Periodically call sendOdometry() in your main loop to process messages and publish odometry.

Note

optional functionality: include "TinyRobotics/communication/MicroROS.h"

Author

Phil Schatzmann

Date

2026-03-30

Member Function Documentation

onMessage() [1/3]

bool onMessage ( const Message< Coordinate< float > > &  msg )

inlineprotectedvirtual

Reimplemented from MessageHandler.

onMessage() [2/3]

bool onMessage ( const Message< float > &  msg )

inlineoverrideprotectedvirtual

Handle an incoming message (pure virtual).

This method should be implemented by derived classes to process messages.

Parameters

msg	The message to handle.

Returns

true if the message was handled successfully, false otherwise.

Implements MessageHandler.

onMessage() [3/3]

bool onMessage ( const Message< MotionState3D > &  msg )

inlineoverrideprotectedvirtual

Reimplemented from MessageHandler.

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The documentation for this class was generated from the following file:

• src/TinyRobotics/communication/MicroROS.h