ROSMicroPy brings MicroPython and micro-ROS together so an ESP32-class device can act as a ROS 2 node while still being programmed mostly in Python.
The primary way to write ROSMicroPy applications is the integrated rclpy interface. The goal is practical portability: take a ROS 2 rclpy app from your computer and run it on a ROSMicroPy node with minimal changes.
The older direct MicroPython ABI exported through uros_mp_reg remains for older code and internal support, but it should be treated as deprecated for new application development.
The diagrams in the documentation use fenced mermaid blocks, which GitHub renders directly in Markdown files, issues, pull requests, discussions, and wikis.
The main example directories are:
python_example_code/rclpy/: rclpy publisher/subscriber examples.python_example_code/other/: older direct ABI examples.python_example_code/RMPCore/: robot-oriented examples.