micro-ROS · Amronos · Feb 25, 2026 · Feb 26, 2026 · Feb 27, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -2,51 +2,44 @@ name: CI
 
 on:
   pull_request:
+  push:
     branches:
-      - '**'
+      - humble
+      - jazzy
+      - kilted
+      - rolling
+  workflow_call:
+    inputs:
+      branch:
+        description: 'Branch to checkout'
+        required: false
+        type: string
+        default: 'rolling'
+  workflow_dispatch:
 
 jobs:
-
   micro_ros_idf:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
-        idf_version: [ "espressif/idf:release-v5.2" ]
-        exclude:
-          # Skip IDF v4 + ESP32C6 combination
-          - idf_target: esp32c6
-            idf_version: espressif/idf:release-v4.4
+        idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
+        idf_version: [v5.2, v5.3, v5.4, v5.5]
 
     container:
-      image: ${{ matrix.idf_version }}
+      image: 'espressif/idf:release-${{ matrix.idf_version }}'
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v6
         with:
           path: micro_ros_espidf_component
+          ref: ${{ inputs.branch || github.ref }}
 
       - name: Dependencies
         shell: bash
-        run: |
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y git python3-pip
-          . $IDF_PATH/export.sh
-          pip3 install catkin_pkg lark-parser colcon-common-extensions
-          # This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
-          pip3 install importlib-resources
-          # this installs the modules also for global python interpreter, needed for IDF v5
-          /usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources
-
-      # This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
-      - name: Patch setuptools
-        shell: bash
-        if: matrix.idf_version == 'espressif/idf:release-v4.4'
         run: |
           . $IDF_PATH/export.sh
-          pip3 install setuptools==68.1.2
+          pip install catkin_pkg colcon-common-extensions lark
 
       - name: Build sample - int32_publisher
         shell: bash
@@ -86,7 +79,7 @@ jobs:
 
       - name: Build sample - int32_publisher_custom_transport_usbcdc
         shell: bash
-        if: (matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3') && matrix.idf_version == 'espressif/idf:release-v5.2'
+        if: matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3'
         run: |
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -1,117 +1,16 @@
 name: Nightly
 
 on:
-  workflow_dispatch:
-    inputs:
-      name:
-        description: "Manual trigger"
   schedule:
-    - cron:  '0 4 * * *'
+    - cron: '0 4 * * *'
+  workflow_dispatch:
 
 jobs:
   micro_ros_idf:
-    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        branch: [rolling, jazzy, humble]
-        idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
-        idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
-        exclude:
-          # Skip IDF v4 + ESP32C6 combination
-          - idf_target: esp32c6
-            idf_version: espressif/idf:release-v4.4
-          # Skip IDF v4 for rolling and kilted
-          - branch: rolling
-            idf_version: espressif/idf:release-v4.4
-          - branch: kilted
-            idf_version: espressif/idf:release-v4.4
-
-
-    container:
-      image: ${{ matrix.idf_version }}
-
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          path: micro_ros_espidf_component
-          ref: ${{ matrix.branch }}
-
-      - name: Dependencies
-        shell: bash
-        run: |
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y git python3-pip
-          . $IDF_PATH/export.sh
-          pip3 install catkin_pkg lark-parser empy==3.3.4 colcon-common-extensions
-          # This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
-          pip3 install importlib-resources
-          # this installs the modules also for global python interpreter, needed for IDF v5
-          /usr/bin/pip3 install catkin_pkg lark-parser empy==3.3.4 colcon-common-extensions importlib-resources
-
-      # This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
-      - name: Patch setuptools
-        shell: bash
-        if: matrix.idf_version == 'espressif/idf:release-v4.4'
-        run: |
-          . $IDF_PATH/export.sh
-          pip3 install setuptools==68.1.2
-
-      - name: Build sample - int32_publisher
-        shell: bash
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component/examples/int32_publisher
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
-
-      - name: Build sample - low_consumption
-        shell: bash
-        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component/examples/low_consumption
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
-
-      - name: Build sample - handle_static_types
-        shell: bash
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component/examples/handle_static_types
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
-
-      - name: Build sample - int32_publisher_custom_transport
-        shell: bash
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component
-          make -f libmicroros.mk clean
-          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
-          cd examples/int32_publisher_custom_transport
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
-
-      - name: Build sample - multithread_publisher
-        shell: bash
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component
-          make -f libmicroros.mk clean
-          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
-          cd examples/multithread_publisher
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
-
-      - name: EmbeddedRTPS
-        if: ${{ matrix.branch == 'humble' }}
-        shell: bash
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component
-          make -f libmicroros.mk clean
-          cd examples/int32_publisher_embeddedrtps
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build
+        branch: [humble, jazzy, kilted, rolling]
+    uses: ./.github/workflows/ci.yml
+    with:
+      branch: ${{ matrix.branch }}
diff --git a/README.md b/README.md
@@ -3,26 +3,26 @@
 
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
-
-_Note: ESP-IDF v4.4 is supported only in ROS 2 Humble and Jazzy due to Python version incompatibilities._
+This component has been tested in ESP-IDF v5.2, v5.3, and v5.4 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
 
 ## Dependencies
 
 This component needs `colcon` and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:
 
 ```bash
 . $IDF_PATH/export.sh
-pip3 install catkin_pkg lark-parser colcon-common-extensions
+pip3 install catkin_pkg colcon-common-extensions lark
 ```
 
 ## Middlewares available
 
 This package support the usage of micro-ROS on top of two different middlewares:
+
 - [eProsima Micro XRCE-DDS](https://micro-xrce-dds.docs.eprosima.com/en/latest/): the default micro-ROS middleware.
 - [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS): an experimental implementation of a RTPS middleware compatible with ROS 2.
 
 In order to select it, use `idf.py menuconfig` and go to `micro-ROS Settings > micro-ROS middleware`
+
 ## Usage
 
 You can clone this repo directly in the `components` folder of your project.
@@ -36,7 +36,7 @@ In order to test a int32_publisher example:
 ```bash
 . $IDF_PATH/export.sh
 cd examples/int32_publisher
-# Set target board [esp32|esp32s2|esp32s3|esp32c3]
+# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
 idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
@@ -63,19 +63,16 @@ docker run -it --rm --net=host microros/micro-ros-agent:rolling udp4 --port 8888
 It's possible to build this example application using the official Espressif [docker images](https://hub.docker.com/r/espressif/idf), following the same steps:
 
 ```bash
-docker pull espressif/idf:release-v5.2
-# Run ESP-IDF container
-docker run --name micro-ros-espidf-component-test -it espressif/idf:release-v5.2 bash
+docker run --name micro-ros-espidf-component -it espressif/idf:release-v5.4 bash
 
-git clone https://github.com/micro-ROS/micro_ros_espidf_component.git
+git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git
 cd micro_ros_espidf_component/
 
 # Install dependencies
-pip3 install catkin_pkg lark-parser colcon-common-extensions
+pip install catkin_pkg colcon-common-extensions lark
 
-$IDF_PATH/export.sh
 cd examples/int32_publisher
-# Set target board [esp32|esp32s2|esp32s3|esp32c3]
+# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
 idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings

diff --git a/libmicroros.mk b/libmicroros.mk
@@ -60,6 +60,9 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
 	git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
 	git clone -b rolling https://github.com/micro-ROS/rcl src/rcl; \
 	git clone -b rolling https://github.com/ros2/rclc src/rclc; \
+	cd src/rclc; \
+	git reset --hard 2283a6d76c3f41a964d03610a3305166d8c2caaa; \
+	cd ../..; \
 	git clone -b rolling https://github.com/micro-ROS/rcutils src/rcutils; \
 	git clone -b rolling https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
 	git clone -b rolling https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
@@ -78,10 +81,10 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
 	git clone -b rolling https://github.com/ros2/ros2_tracing src/ros2_tracing; \
 	git clone -b rolling https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
 	git clone -b rolling https://github.com/ros2/rosidl_core src/rosidl_core; \
-    touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
-    touch src/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE; \
-    touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
-    touch src/rclc/rclc_examples/COLCON_IGNORE; \
+  touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
+  touch src/rcl_logging/rcl_logging_implementation/COLCON_IGNORE; \
+  touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
+  touch src/rclc/rclc_examples/COLCON_IGNORE; \
 	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
 	touch src/ros2_tracing/test_tracetools/COLCON_IGNORE; \
 	touch src/ros2_tracing/lttngpy/COLCON_IGNORE; \
@@ -113,7 +116,7 @@ $(EXTENSIONS_DIR)/micro_ros_src/install: $(EXTENSIONS_DIR)/esp32_toolchain.cmake
 
 patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
 # Workaround https://github.com/micro-ROS/micro_ros_espidf_component/issues/18
-ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3 esp32c6))
+ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32 esp32s2 esp32s3 esp32c3 esp32c6))
 		echo $(UROS_DIR)/atomic_workaround; \
 		mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
 		$(X_AR) x $(UROS_DIR)/install/lib/librcutils.a; \

diff --git a/network_interfaces/uros_ethernet_netif.c b/network_interfaces/uros_ethernet_netif.c
@@ -74,20 +74,31 @@ esp_err_t uros_network_interface_initialize(void)
     ESP_ERROR_CHECK(esp_event_loop_create_default());
     esp_netif_config_t cfg = ESP_NETIF_DEFAULT_ETH();
     esp_netif_t *eth_netif = esp_netif_new(&cfg);
-    // Set default handlers to process TCP/IP stuffs
+    // Set default handlers to process TCP/IP stuffs (removed in ESP-IDF 5.5+)
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0)
     ESP_ERROR_CHECK(esp_eth_set_default_handlers(eth_netif));
+#endif
     // Register user defined event handers
     ESP_ERROR_CHECK(esp_event_handler_register(ETH_EVENT, ESP_EVENT_ANY_ID, &eth_event_handler, NULL));
     ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_ETH_GOT_IP, &got_ip_event_handler, NULL));
 
     eth_mac_config_t mac_config = ETH_MAC_DEFAULT_CONFIG();
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
+    eth_esp32_emac_config_t esp32_emac_config = ETH_ESP32_EMAC_DEFAULT_CONFIG();
+#endif
     eth_phy_config_t phy_config = ETH_PHY_DEFAULT_CONFIG();
     phy_config.phy_addr = CONFIG_MICRO_ROS_ETH_PHY_ADDR;
     phy_config.reset_gpio_num = CONFIG_MICRO_ROS_ETH_PHY_RST_GPIO;
 #if CONFIG_MICRO_ROS_USE_INTERNAL_ETHERNET
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0)
     mac_config.smi_mdc_gpio_num = CONFIG_MICRO_ROS_ETH_MDC_GPIO;
     mac_config.smi_mdio_gpio_num = CONFIG_MICRO_ROS_ETH_MDIO_GPIO;
     esp_eth_mac_t *mac = esp_eth_mac_new_esp32(&mac_config);
+#else
+    esp32_emac_config.smi_gpio.mdc_num = CONFIG_MICRO_ROS_ETH_MDC_GPIO;
+    esp32_emac_config.smi_gpio.mdio_num = CONFIG_MICRO_ROS_ETH_MDIO_GPIO;
+    esp_eth_mac_t *mac = esp_eth_mac_new_esp32(&esp32_emac_config, &mac_config);
+#endif
 #if CONFIG_MICRO_ROS_ETH_PHY_IP101
     esp_eth_phy_t *phy = esp_eth_phy_new_ip101(&phy_config);
 #elif CONFIG_MICRO_ROS_ETH_PHY_RTL8201
@@ -161,4 +172,4 @@ esp_err_t uros_network_interface_initialize(void)
     return ESP_OK;
 }
 
-#endif
+#endif