Add RT-Thread Support

[wuhanstudio]

Hi,

Recently micro_ros has been ported to RT-Thread, which is an RTOS that supports 150+ boards. With native POSIX support, it requires little effort to port various applications onto RT-Thread.

The micro_ros package is now available in RT-Thread Software Package. Would you like to incoorperate RT-Thread as one of the Supported RTOSes?

Looking forward to hearing from you.
Han

micro_ros_rtthread.mp4

[pablogs9]

Can you show us some tutorials on how to work with this port?

[wuhanstudio]

Sure, I'll write a tutorial and post it here when ready.

[pablogs9]

Another think that I'm seeing is that this is not a full micro-ROS port, this is a XRCE-DDS Client port with some hardcoded typesupport of micro-ROS. Won't you be interested in port the whole micro-ROS API?

[wuhanstudio]

Another think that I'm seeing is that this is not a full micro-ROS port, this is a XRCE-DDS Client port with some hardcoded typesupport of micro-ROS. Won't you be interested in port the whole micro-ROS API?

This is the port on RT-Thread that follows a similar structure as Arduino:

https://github.com/wuhanstudio/micro_ros
https://github.com/micro-ROS/micro_ros_arduino

Actually I think the whole micro-ROS API is already fully supported by RT-Thread.

I would like to further improve if this port not is what you mean.

[wuhanstudio]

Can you show us some tutorials on how to work with this port?

Hi, these are tutorials of using micro_ros on RT-Thread. I'll add a documentation for this tutorial in this PR later.

RT-Thread Studio (Windows):

https://www.rt-thread.io/studio.html

rt-thread.mp4

The POSIX support and RTT package center make it really convenient to add various packages for embedded systems.

RT-Thread ENV (Ubuntu):

[ZhenshengLee]

Actually I think the whole micro-ROS API is already fully supported by RT-Thread.

I would like to further improve if this port not is what you mean.

@wuhanstudio

I think the fully port for RT-Thread the community need is that

• native ros2 build system for RT-Thread, following https://micro.ros.org/docs/concepts/build_system/ and contribute codes to micro-ros-setup
• platform specific build system for RT-Thread, following https://micro.ros.org/docs/concepts/build_system/external_build_systems/ and create a repo like micro_ros_RT_Thread_utils
• apps and demos just like your repo https://github.com/wuhanstudio/micro_ros
• performance benchmark development and results following https://micro.ros.org/docs/concepts/benchmarking/concept/

@pablogs9 am I right.

[wuhanstudio]

Hi, @ZhenshengLee @pablogs9

Sorry for the late reply. Thanks for listing the requirements for a full micro_ros port. It really helps a lot.

The full port of micro_ros on RT-Thread is now a project of the Open Source Promotion Plan (OSPP) 2022.

Hope we will receive applications from students and solve this problem in this summer.

https://summer-ospp.ac.cn/#/org/prodetail/22f330436