Meta-ROS Documentation

Meta-ROS is a complete rewrite of the original Meta-Embedded project based on ROS 2 (Humble). It is designed to be run on embedded Linux devices with RT kernels.

Why rewrite Meta-Embedded?

Meta-Embedded is based on STM32 and ChibiOS, which is a great combination for small embedded devices. However, as vision and navigation systems are added. The latency between the microcontroller and the main computer becomes a big issue. We believe it is hard for us to design a time synchronization mechanism between the two systems, so we decided to move the whole system into a single computer.

Why ROS 2?

ROS 2 provides a great sender-receiver model and a lot of useful tools like rviz and tf2 that makes robotics development much easier. We prefer ROS 2 over ROS mainly because our vision system (which is earlier than this project) is written in ROS 2.