Choose Your Entry

Different readers want different paths through this book. Pick the shoe that fits and jump straight to the right page.

🧪 I’m taking a glance

You heard about nano-ros and want to know in 5 minutes whether it’s worth playing with.

• Start at the “Can I use nano-ros right now?” matrix in the intro. One row per dev board you might have on your desk.
• Then the Project Status paragraph for the maturity signal.
• If you stay interested, jump to one of the starters below.

🔌 I have an ESP32 on my desk right now

Already have hardware? Two-step path:

1. Linux first — First Node — Rust on your host to verify the stack in ~10 minutes (nros setup native --rmw zenoh then cargo run).
2. Then ESP32 — once Linux works, follow ESP32 (esp-hal) for the Rust cross-compile path. You need a second machine (or the host itself) running zenohd on your Wi-Fi network — the board needs network reach to the router. For a C-only path use ESP32 (ESP-IDF component) if you already have ESP-IDF set up.

🚀 I want to get started shipping something

You’ve decided to use nano-ros and want a working talker on Linux first, then maybe move to an MCU.

1. Install + first build — install the nros CLI, then nros setup native --rmw zenoh.
2. First Node in your language: Rust · C · C++.
3. Building two or more nodes? Move next to Multi-Node Project Layout.
4. Troubleshooting — First 10 Minutes if anything goes sideways.
5. Cross-compile for an RTOS via the Embedded Starters section.

🔬 I’m evaluating capabilities

You’re a senior engineer or tech lead assessing nano-ros for adoption. You want to see scope of coverage, performance bounds, verification status, and trade-offs before committing.

• Architecture Overview — the three-layer model.
• Execution Model and Two-Layer API — poll vs callback discipline.
• Choosing an RMW Backend — capability matrix per backend, including QoS coverage and multi-backend bridges.
• Real-Time Analysis + Scheduling Models — RT scheduling story.
• Formal Verification — Kani
  • Verus harness coverage.
• Safety Protocol — E2E CRC, EN 50159 mapping.
• Production Readiness Checklist — concrete adoption gates.
• nano-ros vs micro-ROS — head-to-head with the closest peer project.

💼 I’m scoping nano-ros for a fleet / product line

You’re a PM, CTO, or technical buyer. You want license terms, supplier reach, deployment patterns, and risk signals before you write the memo.

• Setup Compared to Standard ROS 2 — the elevator pitch + what stays familiar vs what changes.
• Differences from Standard ROS 2 — feature deltas in plain prose.
• Supported Boards — the procurement matrix (vendor × board × MCU × RTOS × status).
• Choosing an RMW Backend — decision tree.
• Cross-backend Bridges — multi-RMW fleets.
• Safety Protocol — E2E CRC framework + standards mapping.
• Production Readiness Checklist — what you’d ask your pilot team to validate.
• nano-ros vs micro-ROS — license / governance / commercial support comparison.

Still not sure?

Read the Introduction for the one-page overview. Every section above branches from there.