MCU Development board

Lucky · March 23, 2021, 1:54pm

Which suitable microcontroller development board can you recommend to run my ROS-based controller (CPP) for cooperative control of drones?

RobertCNelson · March 23, 2021, 2:23pm

Hi @Lucky , welcome to the forum… ROS is a massive project with lots of customization, thus tons of different options for an MCU.

Do you have any idea of how many sensors (and what type), how many control surfaces you want to control, and what other features you want to include in your design?

github.com

micro-ROS/micro_ros_arduino/blob/foxy/README.md

# micro-ROS for Arduino

This is a **experimental** micro-ROS library for baremetal projects based on Arduino IDE or Arduino CLI.
As the build process for ROS 2 and micro-ROS is based on custom meta-build system tools and CMake, this library is provided as a precompiled library. Anyways, users can rebuild its own precompiled libraries in order to modify micro-ROS parameters, for example customizing prebuild meta file.

Supported boards are:

| Board                                                                    | Min version | State      | Details                                                                                             | Prebuild meta        |
| ------------------------------------------------------------------------ | ----------- | ---------- | --------------------------------------------------------------------------------------------------- | -------------------- |
| [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7)      | v1.8.5      | Supported  | Official Arduino support                                                                            | `colcon.meta`        |
| [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) | v1.4.16     | Supported  | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide) | `colcon.meta`        |
| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                   | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon.meta`        |
| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                   | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon.meta`        |
| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)               | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta` |
| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                   | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta` |

Community contributed boards are:

| Board                                                 | Min version | Contributor                                    | Details | Prebuild meta            |
| ----------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ |

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Regards,

Lucky · March 23, 2021, 8:01pm

GPS for position
Translational Velocity sensor
IMU accelerometer for orientation
Angular velocity sensor
Laser, sonar (?) for obstacle avoidance

Lucky · March 24, 2021, 9:43am

Thanks for the feedback I looked into the links that you sent. Please confirm that the following platforms will be able to support Ubuntu because ROS itself is running in Ubuntu.

RobertCNelson · March 24, 2021, 1:13pm

Hi @Lucky, none of those platforms will run Ubuntu. In your original post, you had mentioned “MCU”, which stands for “Microcontroller”, those board options are for micro-ROS.

For a board running classic, ROS, you’d need an “MPU” based processor… Which version ROS are you looking to target, ROS Foxy Fitzroy, or ROS Noetic Ninjemys?

https://www.ros.org/

Classic, targets are the Raspberry PI…

Regards,

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MCU Development board

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