mros-z (formally "mROS Z") is a lightweight runtime environment designed specifically for Zephyr RTOS and Zenoh.
We aim to enable ROS 2 node implementations to operate (even partially) on embedded microcontrollers while maintaining a certain level of compatibility with the ROS 2 API (rclcpp/rclc).
We employ zehon-pico as the communication middleware to enable interoperability with native ROS 2 systems running on rmw_zenoh.
We have been developing mros2 (mROS 2), but we are now seeking to establish a new style for the embedded technology within the ROS 2 ecosystem by leveraging the insights (and bitter experiences) we have gained so far.