The [micro-ROS for STM32CubeMX](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) package is a set of utilities which enables the seamless configuration, set-up and integration of micro-ROS into an STM32 controller based project. As such, it allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com/content/st_com/en.html">STMicroelectronics</a>.

Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/foxy/microros_component/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.

orin its rmw implementation [`rmw_microxrcedds`](https://github.com/micro-ROS/rmw-microxrcedds), consult this [tutorial](/docs/tutorials/advanced/microxrcedds_rmw_configuration/) and the `rmw_microxrcedds` [README](https://github.com/micro-ROS/rmw-microxrcedds#rmw-micro-xrce-dds-implementation).

For a comprehensive review on how to use custom QoS in micro-ROS, please visit this [dedicated page](/docs/tutorials/advanced/create_dds_entities_by_ref/) in the tutorials section.

* [Middleware optimization tutorial](/docs/tutorials/advanced/microxrcedds_rmw_configuration/).

* [How to use custom QoS in micro-ROS](/docs/tutorials/advanced/create_dds_entities_by_ref/)

Quality of service settings for handling non-ideal networks | <span class="status_flag">&#10003;&#43;</span> | For communication over the DDS-XRCE wire protocol, two QoS semantics, reliable and best-effort, are provided and can be set at compile-time. As for communication with the ROS 2 dataspace, micro-ROS entities can benefit from the whole set of QoS allowed by DDS when created [by Reference](/docs/tutorials/advanced/create_dds_entities_by_ref/).

title: Integration into External Tools

permalink: /docs/overview/ext_tools/

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micro-ROS aims to **bring ROS 2 to microcontrollers** to allow having first-class ROS 2 entities in the embedded world.

One of the approaches offered by micro-ROS to build an application for embedded platforms consists in a [ROS-specific build system](https://github.com/micro-ROS/micro_ros_setup) comprising modules which integrate the software for cross-compiling said apps on the supported plaforms, both hardware and firmware-wise. A different approach consists in generating standalone modules and components allowing to integrate micro-ROS into external or custom development frameworks, made possible by a [tool dedicated to compiling micro-ROS as a standalone library](../../tutorials/advanced/create_custom_static_library).

The configuration of the generated micro-ROS libraries is based on a `colcon.meta` file.

The modules that exist up to date for integrating into external build systems are the following:

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ESP-IDF is the official development framework for the ESP32, ESP32-S and ESP32-C Series SoCs.

To date, it has been tested in ESP-IDF v4.1 and v4.2 with ESP32 and ESP32-S2.

The <i>micro-ROS component for the ESP-IDF</i> allows the user to integrate the micro-ROS API and utilities in an already created ESP-IDF project just by cloning or copying a folder.

The current ports support <a href="https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/uart.html">Serial (UART)</a>,

<a href="https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_wifi.html">WiFi</a>, and <a href="https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/index.html#ethernet">Ethernet</a>.

<hr><b>Resources:</b>

<ul>

<li><a href="https://github.com/micro-ROS/micro_ros_espidf_component">micro-ROS component for ESP-IDF on GitHub</a></li>

<li><a href="https://github.com/espressif/esp-idf">ESP-IDF on GitHub</a></li>

<li><a href="https://docs.espressif.com/projects/esp-idf/en/latest/esp32/">ESP-IDF docs</a></li>

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Zephyr is a scalable RTOS built with security in mind, and based on a small-footprint kernel designed for use on resource-constrained systems.

The Zephyr kernel supports multiple hardware architectures, including ARM Cortex-M, Intel x86, ARC, Nios II, Tensilica Xtensa, and RISC-V, and can count with <a href="https://docs.zephyrproject.org/latest/boards/index.html">large number of supported boards</a>.

The <i>micro-ROS module for Zephyr</i> allows to integrate the micro-ROS API and utilities in an existing Zephyr-based project just by cloning or copying a folder.

<hr><b>Resources:</b>

<ul>

<li><a href="https://github.com/micro-ROS/micro_ros_zephyr_module">micro-ROS module for Zephyr build system on GitHub</a></li>

<li><a href="https://github.com/zephyrproject-rtos/zephyr">Primary GitHub repository for the Zephyr Project</a></li>

<li><a href="https://github.com/zephyrproject-rtos/zephyr">Zephyr Project official webpage</a></li>

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Arduino is an open-source platform based on an I/O board and a development environment that implements the Processing/Wiring language, intended to enable users to easily generate interactive projects. A CLI is also offered, which aims to be an all-in-one solution providing the tools needed to use any Arduino compatible platform from the command line.

The <i>micro-ROS for Arduino</i> support package is a special <i>bare-metal</i> port of micro-ROS provided as a set of precompiled libraries for specific platforms.

<hr><b>Resources:</b>

<ul>

<li><a href="https://github.com/micro-ROS/micro_ros_arduino">micro-ROS for Arduino on GitHub</a></li>

<li><a href="https://github.com/arduino/Arduino">Arduino IDE on GitHub</a></li>

<li><a href="https://github.com/arduino/arduino-cli">Arduino CLI on GitHub</a></li>

<li><a href="https://www.arduino.cc/">Arduino official website</a></li>

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The STM32CubeMX is a graphical tool by ST for configuring STM32 microcontrollers and microprocessors. It enables to optimally program and manipulate the software thanks to a set of utilities that help setting up pinouts, peripherals, and middleware stacks.

<i>micro-ROS for STM32CubeMX</i> is based on a <a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/foxy/microros_component/Dockerfile">Dockerfile</a> and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com/content/st_com/en.html">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.

<hr><b>Resources:</b>

<ul>

<li><a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils">micro-ROS for STM32CubeMX on GitHub</a></li>

<li><a href="https://www.st.com/content/st_com/en.html">STMicroelectronics official webpage</a></li>

<li><a href="https://github.com/STMicroelectronics/STM32Cube_MCU_Overall_Offer">STMicroelectronics official webpage</a></li>

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