The Robot Operating System (ROS) is one of the most widely used set of tools to develop robotic  applications. While normally running on Linux, smaller ROS variants exist (e.g, Micro-ROS) that are capable of executing on POSIX-oriented RTOSes (e.g., FreeRTOS or Zephyr OS). While Micro-ROS focuses on microcontrollers, there is a trend in the industrial automation world towards the safe use of ROS for larger SoC, such as the Xilinx Ultrascale+ or the NXP i.MX8M.

The thesis analyzes similarities and differences of the architecture of Micro-ROS and ROS and proposes a lightweight implementation of the full ROS stack for Zephyr OS. Special focus will be given to the analysis of the POSIX and DDS compatibility and differences w.r.t. other OSs (e.g., NuttX) that already support ROS-variants (https://github.com/PX4/NuttX).

The thesis will be validated using PX4, a flight control software for drones and unmanned vehicles.

C, Linux Kernel, Makefile, Bash