Public deliverables


D1.4 Overall Architecture Definition – Initial
D1.7 Requirements
D2.1 Report on the reference hardware development platforms
D8.1 Ethics requirements


D2.2 Report on the identified OS-independent abstractions for micro-ROS compatibility
D2.3 Micro-ROS default RTOS release - Initial
D2.10 Report on RTOS scheduling - Initial

D3.1 Micro XRCE-DDS for ROS Software Release - Y1
D3.4 Micro-ROS middleware interface Release - Y1
D3.7 Micro-ROS Agent Release - Y1
D3.10 Interoperability Report - Y1
D3.13 FIROS2 new Release - Y1

D4.1 Micro-ROS client library software release - Y1
D4.4 Real-time executor software release - Y1
D4.8 Lifecycle and system modes software release - Y1
D4.11 Embedded transform TF library software release - Y1

D5.1 Platform baseline benchmarks

D7.1 Annual report on Communication and Dissemination - Y1
D7.4 Annual report on collaboration
D7.7 Annual report on Standardization - Y1
D7.10 Exploitation Plan - Initial


D5.2 Micro-ROS benchmarks - Initial


D1.5 Overall Architecture Definition Revised

D2.4 RTOS release - Y2
D2.5 Simulator - Y1
D2.8 Hardware bridge - Y1

D6.1 Drone micro-ROS use-case release - Initial
D6.3 Sensor micro-ROS use-case - Initial
D6.5 Indego lawnmower micro-ROS use-case release Initial
D6.7 Smart warehouse micro-ROS use-case release - Initial

D7.13 Long-term Maintenance - Initial


D2.6 Micro-ROS default simulation environments release revised
D2.7 Report on the micro-ROS hardware bridges
D2.9 Bridge logic software release

D3.2 Micro XRCE-DDS for ROS Software release Y2
D3.5 Micro-ROS middleware interface release Y2
D3.8 Micro-ROS Agent release Y2
D3.11 Interoperability report Y2
D3.14 FIROS2 new release Y2

D4.2 Micro-ROS client library software release Y2
D4.5 Real-time executor software release Y2
D4.7 Report on model-based optimization of latencies
D4.9 Lifecycle and system modes software release Y2
D4.12 Embedded transform tf library software release Y2

D5.3 Micro-ROS benchmarks - Revised
D5.5 Micro-ROS benchmarking and validation tools release - Beta

D7.2 Annual report on Communication and Dissemination Y2
D7.5 Annual report on collaboration Y2
D7.8 Annual report on standardization Y2
D7.11 Exploitation plan Y2 Publications


D1.6 Overall Architecture Definition Final

D2.11 Report On RTOS Scheduling
D2.13 Extensions to Scheduling Mechanisms
D2.14 Report on Platform Support Initial

D3.3 Micro XRCE-DDS for ROS Software Release Y3
D3.6 Micro-ROS middleware interface Release Y3
D3.9 Micro-ROS Agent Release Y3
D3.12 Interoperability Report Y3
D3.15 FIROS2 new Release Y3


D5.4 Micro-ROS benchmarks - Final


D4.3 Micro-ROS client library software release Y3
D4.6 Real-time executor software release Y3
D4.10 Lifecycle and system modes software release Y3
D4.13 with D7.17prelim

D5.6 Micro-ROS benchmarking and validation tools Release - Initial

D6.2 Drone micro-ROS use-case release mid
D6.4 sensor use case final
D6.6 Indego lawnmower micro-ROS use-case Revised
D6.8 Smart warehouse micro-ROS use-case release Revised
D6.9 Joint use-case with FIWARE context broker

D7.3 Annual report on Communication and Dissemination Y3
D7.6 Annual report on collaboration Y3
D7.9 Annual Report on Standardization Y3
D7.12 Exploitation Plan Y3
D7.14 Long-term Maintenance Y3


Jan Staschulat, Ralph Lange, Dakshina Narahari Dasari. Budget-based real-time Executor for Micro-ROS. CoRR arXiv:2105.05590, May 2021.  PDF. Entry at arXiv.

Arne Nordmann, Ralph Lange, Francisco Martin Rico. System Modes - Digestible System (Re-)Configuration for Robotics. In Proc. of 3rd Int’l Workshop on Robotics Software Engineering (RoSE), June 2021. PDFWorkshop page.

Jan Staschulat, Ingo Lütkebohle and Ralph Lange. The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers (Work-in-Progress). In Proceedings of the International Conference on Embedded Software (EMSOFT). September 2020, 18–19. PDFEntry at IEEE Xplore.

Daniel Casini, Tobias Blaß, Ingo Lütkebohle and Björn B Brandenburg. Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling. In Sophie Quinton (ed.). 31st Euromicro Conference on Real-Time Systems (ECRTS 2019) 133. 2019, 6:1–6:23. PDF. Entry at DROPS.

Irati Zamalloa, Iñigo Muguruza, Alejandro Hernández, Risto Kojcev, Víctor Mayoral. An information model for modular robots: the Hardware Robot Information Model (HRIM). CoRR arXiv:1802.01459, Feb 2018. PDFEntry at arXiv.


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