4.2 Installing Micro‐ROS on Teensy

This guide provides steps to install Micro-ROS on a Teensy board using the Arduino IDE. The instructions have been tested on a laptop running Ubuntu 20.04. Other operating systems may work, but this is the configuration that has been verified.

Prerequisites

• Arduino IDE version 2.0.0 or later

Steps

1. Install Arduino IDE

   • Follow the installation steps at Arduino IDE.

2. Add Teensy Support

   • Follow the steps at Teensy Support for Arduino IDE 2.0.0.

3. Install Teensy Board Manager

   • Open the Board Manager in the Arduino IDE and search for "Teensy."
   • Install version 1.57.3 (this version has been tested; the latest version failed to work).

4. Download Micro-ROS Library

   • Install the ZIP file from the following link: Micro-ROS Arduino Release v1.0.0.

5. Add Library to Arduino IDE

   • In the Arduino IDE, select Sketch > Include Library > Add .ZIP Library... and select the ZIP file you downloaded in the previous step.

6. Patch Teensy Platform File

   • First, close the Arduino IDE.
   • Navigate to the following directory:

     ~/.arduino15/packages/teensy/hardware/avr/1.57.3
     

   • Copy the code from the following link: platform_teensy.txt
   • Paste it into the platform.txt file in the directory mentioned above.
   • Alternative Command: You can also use the following command to download the file directly:

     curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_teensy.txt > ~/.arduino15/packages/teensy/hardware/avr/1.57.3/platform.txt

Conclusion

You have now successfully installed Micro-ROS on your Teensy board. If you encounter any issues, please check the installation steps or consult the official documentation for further assistance.