FROS Firmware

FROS (Flexible ROS) firmware powers the next generation of embedded ROS 2 integration. Designed to run on the FROS controller (based on ESP32-S3), it enables real-time peripheral control, ROS 2 interface exposure, and hot-pluggable node binaries — all without writing custom firmware.

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Features

ELF Loader with Cross-Binary Linking

FROS firmware includes a custom-built ELF parser tailored for the Xtensa architecture. It supports:

• Dynamic loading of compiled ROS 2 node binaries (.elf files) at runtime.
• Symbol relocation and linking against the running firmware.
• Secure isolation of runtime components for modular and stable execution.

This allows developers to write reusable logic in standalone ELF files and load them as needed — no need to reflash firmware.

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On-Device File System Support

FROS features persistent storage via onboard SPIFFS:

• Save and manage multiple .elf binaries directly on the controller.
• Retain loaded node configurations across reboots.
• Efficient binary management system with optional auto-load on boot.

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Multi-Channel Transport (UDP / TCP / UART)

FROS supports flexible communication with onboard computers or companion devices through:

• UDP for low-latency broadcast-style data streams.
• TCP for reliable command and control pipelines.
• UART for direct serial interfacing with minimal setup.

This multi-transport system allows seamless integration into a variety of robotic workflows, whether wirelessly or through wired serial links.

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Repository Structure

fros-firmware/
├── components/         # Core components including ELF loader, transport, file system
├── main/               # Application logic and system init
├── payload/            # sample payload application for testing
├── sdkconfig.defaults  # Default ESP-IDF configuration
└── README.md

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Getting Started

1. Clone the repository

   git clone https://github.com/shvass/fros.git
   cd fros

2. Set up ESP-IDF Follow the instructions from the official ESP-IDF setup guide.

3. Build and Flash

   idf.py build
   idf.py -p /dev/ttyUSB0 flash monitor

4. Load Node ELF Binary

   • Use the FROS GUI or fros-loader tool to upload and link ELF binaries to the device.
   • Configuration and GPIO mapping can also be performed through the GUI.

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ROS 2 Integration

Once a binary is loaded and configured, FROS exposes standard ROS 2 topics and services (e.g., /cmd_vel, /scan, etc.) directly to the onboard computer via the selected transport channel. No ROS 2 code is required on the microcontroller side — everything is managed through dynamically loaded nodes.

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About FROS

FROS is a modular embedded framework designed to eliminate the boilerplate of microcontroller firmware development for robotic systems. It empowers ROS 2 developers to configure and deploy sensor/control nodes effortlessly on low-cost hardware like the ESP32-S3.

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