µROSnode (micro-ROS-node) is a lightweight ANSI C ROS client which runs on modern microcontrollers (e.g., ARM Cortex-Mx).
µROSnode supports all main ROS features needed to run a node: - XML/RPC - TCPROS - topics - services - parameters
µROSnode has been written with RTOS in mind, so it relies on some OS primitives (such as threads and mutexes), but it is easily portable to custom platforms. Currently, ports for ChibiOS/RT and Posix are available. The source code also includes a clone of the TurtleSim demo to show how to use µROSnode.
Doxygen documentation available here: https://dl.dropbox.com/u/2771793/uros/doc/html/index.html