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Added 8 new blog entries. (#190)
* Added 8 new blog entries. * ROS dev day video starting at different time. * Addressed comments by Ralph.
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‎_posts/2020-04-28-robotic-arm.md‎

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title: Warehouses automation with micro-ROS
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author: francesca-finocchiaro
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Automation is the key to development within the supply chain and logistics sectors, as it has the potential to improve productivity while reducing costs and protecting workers’ health.
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At its most basic, an automated warehouse attempts to cut down on manual tasks that slow down the movement of goods, and to minimize the exposure of human workers to potential hazards. As robotics evolves, ever more warehouses plan to increase their investment in technology, with a focus on automation and scheduling tools.
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Below, we present a demo that exemplifies the potential entailed by micro-ROS to act as a first-line player in the next generation of robotics applications in the logistics sector.
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It showcases a ROS 2 enabled robotic arm (Robotis OpenMANIPULATOR-X) connected to a ST VL53l1X ToF sensor able to measure the distance between a target object and the base of the arm.
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The sensor is operated by an Olimex STM32-E407 development board, which features a STM32F407 microcontroller running Zephyr, a Real-Time Operating System that is especially convenient thanks to the large collection of sensor drivers available. On top, runs a micro-ROS app that is in charge of passing the distance measurements to the software controlling the arm kinematics. This communication is mediated by a Raspberry Pi 4 bridge, through which the arm is instructed to grab the object with millimetric precision and relocate it in a different position.
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Tasks of this kind can be integrated into a bigger and more complex operations chain, as building blocks of a fully automated protocol, relevant to sectors such as that of warehouses discussed above.
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Find the documentation for reproducing this demo [here](https://github.com/micro-ROS/micro-ROS_openmanipulator_demo).
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<iframe width="560" height="315" src="https://www.youtube.com/embed/10Gq-q8k2tw" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

‎_posts/2020-05-12-xrce-dds_120_release.md‎

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title: Release of eProsima Micro XRCE-DDS 1.2.0
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author: francesca-finocchiaro
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eProsima, one of the founding members and coordinator of the OFERA consortium, announces the general availability of Micro XRCE-DDS 1.2.0.
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Micro XRCE-DDS is an open source wire protocol that implements the OMG DDS standard for eXtremly Resource Constrained Environments, and is the default Middleware implementing the RMW abstraction layer for the micro-ROS project.
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This release introduces the following new features:
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* IPv6 support.
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* Requester/Replier support.
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* Packaging compatibility with colcon.
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* Isolated installation option.
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* Changed the serial transport.
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For a complete list of improvements and bug fixes please read the [release notes](hhttps://github.com/eProsima/Micro-XRCE-DDS/releases/tag/v1.2.0).

‎_posts/2020-05-22-xrce-dds_130_release.md‎

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title: Release of eProsima Micro XRCE-DDS 1.3.0
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author: francesca-finocchiaro
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eProsima, one of the founding members and coordinator of the OFERA consortium, announces the general availability of Micro XRCE-DDS 1.3.0. With this release Micro XRCE-DDS is fully compatible with the latest version of eProsima Fast DDS 2.0 for ROS 2 Foxy.
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Micro XRCE-DDS is an open source wire protocol that implements the OMG DDS standard for eXtremly Resource Constrained Environments, and is the default Middleware implementing the RMW abstraction layer for the micro-ROS project.
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This release introduces the following new features:
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* Agent 1.4.0:
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* Added FastDDS middleware (compatible with ROS 2 Foxy).
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* Fixed TermiosAgent's baudrate setting.
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* Client 1.2.3:
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* Modified examples installation.
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* Fixed minor Windows visibility function fixes.
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For a complete list of improvements and bug fixes please read the [release notes](hhttps://github.com/eProsima/Micro-XRCE-DDS/releases/tag/v1.3.0).

‎_posts/2020-06-03-fiware_video.md‎

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title: micro-ROS Dissemination Video by FIWARE
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author: francesca-finocchiaro
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The FIWARE Foundation, member of the OFERA consortium, has worked on a dissemination video for micro-ROS, to bring it to an ever broader audience.
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Ralph Lange, project manager in robotics systems & software engineering at Bosch Corporate Research,
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one of the parties leading the micro-ROS project, has been interviewed at the IoT Solutions World Congress in Barcelona in October 2019.
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Ralph gives its voice to detail what the micro-ROS project is about and explain its main features very clearly and
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straightforwardly.
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Find the video below:
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<iframe width="560" height="315" src="https://www.youtube.com/embed/Vbab-YED2Us" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

‎_posts/2020-06-17-fiware_webinar.md‎

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title: micro-ROS and Micro XRCE-DDS as Fiware enablers
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author: francesca-finocchiaro
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---
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On June 17th, eProsima held a webinar hosted by the Fiware Foundation, within the framework of a series of free webinars offered by Fiware about open source platform components for Smart Solutions.
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Both, eProsima and the Fiware Foundation, are members of the OFERA consortium, which gave birth and actually maintains the micro-ROS project.
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Jaime Martin, CEO at eProsima, presented “The Use of DDS Middleware in Robotics”, by giving an introduction about Fast DDS - the most complete open source DDS Middleware for ROS 2.
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Francesca Finocchiaro, Project Manager at eProsima, presented Micro XRCE-DDS - the lightweight DDS middleware for microcontrollers that is at the basis of micro-ROS, in addition to an introduction to the micro-ROS architecture and its usage in the context of robotics applications for resource-constrained environments.
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Find the recording of the presentation below:
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<iframe width="560" height="315" src="https://www.youtube.com/embed/OQYBJJ5ydto" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

‎_posts/2020-06-27-ROS_dev_day.md‎

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title: micro-ROS at ROS Developers Day
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author: francesca-finocchiaro
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eProsima has sponsored this year’s ROS Developers Day 2020 on June 27th, a yearly appointment that gathers the ROS community around topics of broad
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interest for ROS developers of all levels.
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The third edition of this virtual event, hosted by The Construct, offers hands-on presentations about the ROS development with coding examples and various simulations. Speakers from Open Robotics, Wind River, Pal Robotics, the university lecturer Francisco Martin Rico and also eProsima Software Engineers, among others, shared their knowledge of the ROS/ROS 2 world.
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This year's agenda included two lectures from eProsima, one regarding Server-Client Discovery in Fast DDS as an alternative node discovery mechanism for ROS 2, and the other about micro-ROS.
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The latter was given by the eProsima software engineer Pablo Garrido Sánchez, who shown with a very practical hands-on tutorial how to run micro-ROS on the Zephyr Real-Time Operating System (RTOS).
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Please find the video regarding the micro-ROS part below:
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<iframe width="560" height="315" src="https://www.youtube.com/embed/4GWrnhrHmfw?start=1504" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

‎_posts/2020-07-07-pX4_dev_summit.md‎

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title: micro-ROS at PX4 Developers Summit
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author: francesca-finocchiaro
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micro-ROS and its middleware, Micro XRCE-DDS, were presented in a webinar held within the framework of the the 2020 PX4 Developer Summit.
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The PX4 Developer Summit is a 2-day event in which professionals from all over the world exchange technological insights of the drone sector.
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With around 50 speakers from companies like NXP, Microsoft, Open Robotics, Auterion, Dronecode and of course PX4, the topics vary from software development to hardware components.
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The webinar, with title “Bringing micro-ROS to PX4-based flying systems”, was presented by Jaime Martin, the CEO of eProsima and coordinator of the micro-ROS project, in conjunction with Nuno Marques, founder and lead software engineer of [Drone Solutions](https://dronesolutions.io/).
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It covered the basic concepts around the micro-RTPS bridge used to integrate PX4 into the DDS world, and the proposal of migrating to
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a more mature, flexible and secure interface with DDS and ROS 2 based on micro-ROS and its middleware Micro XRCE-DDS.
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Find the full presentation below:
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<iframe width="560" height="315" src="https://www.youtube.com/embed/8JCH_Yg8eX4" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

‎_posts/2020-07-24-foxy_release.md‎

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title: micro-ROS Foxy Release
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author: francesca-finocchiaro
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We are glad to announce the release of micro-ROS Foxy and its compatibility with ROS 2 Foxy and Fast DDS 2.x.
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micro-ROS Foxy supports new hardware platforms in addition to the reference Olimex STM32-E407 evaluation board, namely the Crazyflie 2.1 Drone and ST Discovery IoT kit (B-L475E-IOT01A),
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and new Real-Time Operating Systems (RTOSes) in addition to the already supported NuttX, specifically FreeRTOS and Zephyr v2.3.0.
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It uses the eProsima middleware Micro XRCE-DDS 1.3.0, fully compatible with the latest version of eProsima Fast DDS 2.0 for ROS 2 Foxy.
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micro-ROS Foxy also features the implementation of the RCLC, an additional API that complements the ROS Client Support Library (RCL).
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The RCLC library is written in the C language and implements functionalities of the standard ROS 2 RCLCPP layer, adapting them to the capabilities and needs
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of the low-resource devices targeted by micro-ROS. Among them, the LET Executor and the Lifecycle.
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The RCLC Executor provides a C API to manage the execution of subscription and timer callbacks, similar to the RCLCPP Executor.
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It is optimized for resource-constrained devices and provides additional features that allow the manual implementation
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of deterministic schedules with bounded end-to-end latencies.
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The RCLC Lifecycle package provides convenience functions in C to bundle an RCL node with the ROS 2 Node Lifecycle state machine, similar to the
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RCLCPP Lifecycle Node.
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Finally, new demos and examples, combining the different hardware platforms and RTOSes supported and written in the new RCLC API,
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have been added to the already very complete pool of out-of-the-box and easy to use micro-ROS examples.
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Additionally, bug fixes and improvements have been implemented in the RMW and Micro XRCE-DDS Client library.
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For a complete list of improvements and bug fixes please read the [release notes](https://github.com/micro-ROS/micro-ros-build/releases).

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