ROS2 OpenHarmony/KaihongOS Port

ROS2 to KaihongOS (OpenHarmony) Port for rk3588s (ARM64 aarch64)

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Project Status

Track	Status	Completion
Track 1: ROS2 Foundation Migration	✅ Complete	100%
Track 1.5: RCLCPP OpenHarmony Port	✅ Demo Built	95%
Track 2: rmw_dsoftbus Implementation	✅ Production Ready	95%
Overall	✅ On Track	97%

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Build Status (2026-02-02)

Core Libraries

Library	Size	Status
librcl.so	359 KB	✅ RCL (52/52 tests pass)
librmw_dsoftbus_cpp.so	~4 MB	✅ Production Ready
librclcpp.so	21 MB	✅ C++ client library
librclcpp_action.so	1.2 MB	✅ Action support
librclcpp_lifecycle.so	2.0 MB	✅ Lifecycle nodes
librclcpp_components.so	126 KB	✅ Component management

Demo Applications

Demo	Size	Description
simple_talker	846 KB	Minimal publisher
simple_listener	2.7 MB	Minimal subscriber

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Quick Start

Build

# Generate build files
gn gen out/ohos_aarch64

# Build all targets
ninja -C out/ohos_aarch64

# Build specific demo
ninja -C out/ohos_aarch64 simple_talker simple_listener

Deploy to Device (rk3588s)

# Copy libraries to C:\tmp
cp out/ohos_aarch64/*.so /mnt/c/tmp/

# Transfer via HDC (from WSL, use powershell.exe)
DEVICE_ID=$(powershell.exe -Command "hdc list targets" | head -1 | awk '{print $1}')
powershell.exe -Command "hdc -t $DEVICE_ID file send 'C:\tmp\*.so' '/system/lib64/'"

# Run demo
export RMW_IMPLEMENTATION=rmw_dsoftbus_cpp
/data/local/tmp/simple_talker

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Architecture

User Application (rclcpp)
         ↓
RCL Layer (C API)
         ↓
rmw_dsoftbus (Custom RMW for OpenHarmony)
         ↓
OpenHarmony dsoftbus (IPC framework)
         ↓
Kernel / Network Layer

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Key Components

Foundation Layer

• rcutils/ - C utilities (memory, string, logging)
• rcl/ - ROS Client Library
• rmw/ - RMW interface definition

RMW Implementation

• src/ros2/rmw_dsoftbus/ - Custom middleware using dsoftbus
• Zero-DDS architecture (no FastDDS/CycloneDDS)
• Session-based pub/sub
• Auto-discovery via dsoftbus
• QoS events support (deadline, liveliness, etc.)

RCLCPP Layer

• src/ros2/rclcpp/ - ROS2 C++ Client Library
• Node, Publisher, Subscription, Timer, Executor
• Action, Lifecycle, Components support

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Hardware Validation

Test	Duration	Success Rate
Talker E2E	5 min	100% (20/20)
Ralph Loop A4	8 hours	99.97% (28,769 msgs)
Phase B.2.1	4 hours	99.97% (5 topologies)
QoS Events	30 min	100% (5/5 tests)

Devices: 3× rk3588s validated

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Performance

• RTT P50: 2.49ms
• Message Success: 99.97%
• First Publish Latency: < 1s
• CPU Overhead: < 5%

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Documentation

• Progress Tracking - Detailed status
• rmw_dsoftbus CLAUDE.md - Implementation guide
• Deployment Guide - Device deployment

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License

This project is a port of ROS2 to OpenHarmony/KaihongOS. ROS2 is licensed under Apache License 2.0.