Meta-ROS Documentation ==================================== .. toctree:: :hidden: docs/getting-started.md docs/setup_hw/index.md docs/perception/index.md docs/decision/index.md docs/decomposition/index.md docs/execution/index.md docs/modern_cpp/index.md 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.