Integration of PXROS-HR with Micro-ROS in Robotic Systems

This paper introduces a streamlined integration of PXROS-HR with Micro-ROS for real-world applications, addressing challenges present in earlier approaches. The updated implementation simplifies the integration process by leveraging UART communication and removing external dependencies. The transition from a packet-oriented to a stream-oriented custom transport enhances consistency, while the ROS 2 demonstration using MoveIt 2, a manipulation framework for robotics applications, showcases precise robotic arm movement. This lightweight solution significantly improves accessibility and reduces dependencies on external software, marking a notable advancement in integrating safety-certified RTOS with Micro-ROS.