How to Build a Wired micro-ROS Node Network with W5500 on RP2040 for a ROS2 Robot?
SAINT.OS (in the input-inc/saintos repository) is a ROS2-based control system for a distributed mobile robot.
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Components
Hardware components
WIZnet - W5500
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Raspberry Pi - RP2040
x 1
Project description
Summary SAINT.OS (in the input-inc/saintos repository) is a ROS2-based control system for a distributed mobile robot, with a Raspberry Pi “server” coordinating multiple peripheral nodes (head, arms, tracks). WIZnet’s W5500 is used on RP2040-class microcontroller nodes to provide wired Ethernet, enabling a custom micro-ROS transport over UDP with DHCP and socket handling via WIZnet ioLibrary—so the internal robot network can stay deterministic and isolated from the external “operator/admin” network. What the Project Does SAINT.OS is positioned as an operating system for a track-based mobile…
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