Libraries & Frameworks
micro-ROS
The way to put ROS 2's node model on a microcontroller — RP2040, ESP32 and STM32 are supported — speaking XRCE-DDS to the ROS 2 graph on your host, Apache 2.0. It lets you run the classic split (MCU for real-time control, SBC for navigation) without building your own bridge. The trap is the toolchain: firmware is compiled per target board, and the cross-compilation setup costs more time than the library itself.