Hi Julia and Yanfeng,
From the looks of it, you've only implemented the PingPong MicroROS example? Or do the other ones work as well somehow? I am yet to port and push some of the other examples, I expect them to work similarly, PingPong seemed to be an exhaustive example. I was facing some hiccups with the following reported bug <https://github.com/seL4/seL4/issues/1645>, so trying to find a workaround before pushing the rest of the examples.
A minor nit with your blogpost: seL4 does not impose init/notified/protected, this is part of the seL4 microkit runtime, one could run other software on seL4 if you so desired. Sure, I seem to have used microkit and seL4 interchangeably. Will fix that.
I really appreciate your team's work, being able to pull a library and use it instead of writing a lot of hypervisor code made my life significantly easier. The examples were quite helpful in understanding how to use libvmm. I haven't used `vmm.mk` because I don't think if there's a transparent way to include a Makefile into CMake, the Makefile was simple enough to rewrite in CMake. My initial sloppy prototype did use `include vmm.mk` and I wasn't a fan of having to filter out some flags CFLAGS (check here <https://github.com/Johan511/micro-ROS-demos/blob/sel4/rclc/ping_pong_sel4/Makefile#L71-L75>) forced upon by `vmm.mk` or not being able to customize the build location. But these are rather complaints about Make and not vmm.mk. On Mon, Jun 22, 2026 at 12:46 PM Julia Vassiliki < julia.vassiliki@unsw.edu.au> wrote:
Hi Hari Hara Naveen,
That's neat.
From the looks of it, you've only implemented the PingPong MicroROS example? Or do the other ones work as well somehow? A minor nit with your blogpost: seL4 does not impose init/notified/protected, this is part of the seL4 microkit runtime, one could run other software on seL4 if you so desired.
I see that you used CMake as a build system, and seemingly integrated our libVMM/sDDF work. Do you have any comments to us for how easy/well it was to integrate your system & work with sDDF and our (make) build systems/tooling? We're always interested in external feedback.
Julia
________________________________________ From: HHN via Devel <devel@sel4.systems> Sent: Sunday, 21 June 2026 01:22 To: devel@sel4.systems Subject: [seL4] RFC: Enabling uROS on seL4
Hi Everyone,
I have recently been experimenting with porting uROS to seL4.
uROS (micro-ROS) is a very minimal version of ROS (Robot Operating System) - a well known robotics middleware suite. I have implemented the micro-ROS examples <https://github.com/micro-ROS/micro-ROS-demos/tree/kilted/rclc> and the necessary system to run them on seL4 over here <https://github.com/Johan511/sel4_uros>. A high level explanation of the work can be found here <https://johan511.github.io/posts/2025-01-19-uros-on-sel4/>.
I do not have any prior experience with Operating system development or with ROS, so any critiques are much appreciated.
Thank you -- Hari Hara Naveen _______________________________________________ Devel mailing list -- devel@sel4.systems To unsubscribe send an email to devel-leave@sel4.systems
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-- Hari Hara Naveen