merge from adafruit/main

.devcontainer/cortex-m-toolchain.sh

@@ -14,7 +14,7 @@ echo -e "[cortex-m-toolchain.sh] downloading and installing gcc-arm-non-eabi too
 cd /workspaces
 
 wget -qO gcc-arm-none-eabi.tar.xz \
-  https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
+  https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
 
 tar -xJf gcc-arm-none-eabi.tar.xz
 ln -s arm-gnu-toolchain-14.2.Rel1-x86_64-arm-none-eabi gcc-arm-none-eabi

.github/workflows/notify-on-issue-label.yml

@@ -10,7 +10,7 @@ jobs:
     permissions:
         issues: write
     steps:
-        - uses: tekktrik/issue-labeled-ping@v1
+        - uses: tekktrik/issue-labeled-ping@v2
           with:
                 github-token: ${{ secrets.GITHUB_TOKEN }}
                 user: v923z

.gitignore

@@ -9,6 +9,7 @@
 *.o
 *.a
 !atmel-samd/asf/**/*.a
+!ports/espressif/microros-lib/**/*.a
 *.elf
 *.bin
 !*.toml.bin

.gitmodules

@@ -412,3 +412,6 @@
 [submodule "ports/analog/msdk"]
 	path = ports/analog/msdk
 	url = https://github.com/analogdevicesinc/msdk.git
+[submodule "ports/espressif/microros-lib"]
+	path = ports/espressif/microros-lib
+	url = https://github.com/hierophect/microros-lib.git

locale/ID.po

@@ -871,6 +871,10 @@ msgstr "Deretan koordinat memiliki panjang yang berbeda"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Tipe array koordinat memiliki ukuran yang berbeda"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Tidak dapat mengatur alamat"
@@ -883,6 +887,11 @@ msgstr "Tidak dapat memulai interupsi, RX sibuk"
 msgid "Couldn't allocate decoder"
 msgstr "Tidak dapat mengalokasikan dekoder"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Terjadi kesalahan saat menginisialisasi kanal DAC"
@@ -1312,6 +1321,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argumen tidak valid"
@@ -1874,6 +1887,10 @@ msgstr "Ukuran program tidak valid"
 msgid "Program too long"
 msgstr "Program terlalu lama"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull tidak digunakan saat arah output."
@@ -1894,6 +1911,26 @@ msgstr "Kesalahan DeInit RNG"
 msgid "RNG Init Error"
 msgstr "Kesalahan Init RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/circuitpython.pot

@@ -848,6 +848,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -860,6 +864,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1287,6 +1296,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr ""
@@ -1841,6 +1854,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1861,6 +1878,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/cs.po

@@ -865,6 +865,10 @@ msgstr "Pole souřadnic mají různé délky"
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Není možné nastavit adresu"
@@ -877,6 +881,11 @@ msgstr "Nelze začít přerušení, RX je zaneprázdněn"
 msgid "Couldn't allocate decoder"
 msgstr "Dekodér nelze přiřadit"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Chyba inicializace kanálu DAC"
@@ -1307,6 +1316,10 @@ msgstr "Chybné BSSID"
 msgid "Invalid MAC address"
 msgstr "Chybná MAC adresa"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Neplatný argument"
@@ -1864,6 +1877,10 @@ msgstr "Velikost programu je nesprávná"
 msgid "Program too long"
 msgstr "Program je příliš dlouhý"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1884,6 +1901,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/de_DE.po

@@ -6,14 +6,14 @@ msgstr ""
 "Project-Id-Version: \n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2024-12-15 14:00+0000\n"
+"PO-Revision-Date: 2025-06-12 23:09+0000\n"
-"Last-Translator: Exp3rt <jannik.homberg@gmail.com>\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language: de_DE\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 5.9-rc\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -117,7 +117,7 @@ msgstr "%q Fehler: %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q in %q muss vom Typ %q oder %q sein, nicht %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -304,7 +304,7 @@ msgstr "%q[%u] schiebt mehr Bits raus als Pins vorhanden sind"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "%q[%u] uses extra pin"
-msgstr ""
+msgstr "%q[%u] verwendet zusätzlichen Pin"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "%q[%u] waits on input outside of count"
@@ -495,7 +495,7 @@ msgstr "Adressbereich nicht erlaubt"
 
 #: shared-bindings/memorymap/AddressRange.c
 msgid "Address range wraps around"
-msgstr ""
+msgstr "Der Adressbereich umfasst folgende Bereiche"
 
 #: ports/espressif/common-hal/canio/CAN.c
 msgid "All CAN peripherals are in use"
@@ -573,7 +573,7 @@ msgstr "All-Matchers-Listener bereits vorhanden"
 
 #: ports/espressif/common-hal/_bleio/__init__.c
 msgid "Already in progress"
-msgstr ""
+msgstr "Bereits in Arbeit"
 
 #: ports/espressif/bindings/espnow/ESPNow.c
 #: ports/espressif/common-hal/espulp/ULP.c
@@ -613,7 +613,7 @@ msgstr "Array-Werte sollten aus Einzelbytes bestehen."
 
 #: ports/atmel-samd/common-hal/spitarget/SPITarget.c
 msgid "Async SPI transfer in progress on this bus, keep awaiting."
-msgstr ""
+msgstr "Asynchroner SPI-Transfer auf diesem Bus im Gange, warten Sie weiter."
 
 #: shared-module/memorymonitor/AllocationAlarm.c
 #, c-format
@@ -627,7 +627,7 @@ msgstr "Audio-Konvertierung nicht implementiert"
 #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c
 #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c
 msgid "Audio source error"
-msgstr ""
+msgstr "Audioquellenfehler"
 
 #: shared-bindings/wifi/Radio.c
 msgid "AuthMode.OPEN is not used with password"
@@ -660,7 +660,7 @@ msgstr "Unterhalb der minimalen Frame Rate"
 
 #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c
 msgid "Bit clock and word select must be sequential GPIO pins"
-msgstr ""
+msgstr "Bittakt und Wortauswahl müssen aufeinanderfolgende GPIO-Pins sein"
 
 #: shared-bindings/bitmaptools/__init__.c
 msgid "Bitmap size and bits per value must match"
@@ -767,6 +767,8 @@ msgstr "Kann nur auf zwei Pins Alarm als low aus Deep Sleep auslösen."
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Can't construct AudioOut because continuous channel already open"
 msgstr ""
+"AudioOut kann nicht erstellt werden, da ein kontinuierlicher Kanal bereits "
+"geöffnet ist"
 
 #: ports/espressif/common-hal/_bleio/Characteristic.c
 #: ports/nordic/common-hal/_bleio/Characteristic.c
@@ -816,6 +818,7 @@ msgstr "Aufnahme in eine Datei nicht möglich"
 #: shared-module/storage/__init__.c
 msgid "Cannot remount path when visible via USB."
 msgstr ""
+"Der Pfad kann nicht neu gemountet werden, wenn er über USB sichtbar ist."
 
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Cannot set value when direction is input."
@@ -832,7 +835,7 @@ msgstr "Slice kann keine sub-klasse sein"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "Cannot use GPIO0..15 together with GPIO32..47"
-msgstr ""
+msgstr "GPIO0..15 kann nicht zusammen mit GPIO32..47 verwendet werden"
 
 #: ports/nordic/common-hal/alarm/pin/PinAlarm.c
 msgid "Cannot wake on pin edge, only level"
@@ -870,6 +873,10 @@ msgstr "Koordinaten-Arrays haben unterschiedliche Längen"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Typen der Koordinaten-Arrays haben unterschiedliche Längen"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Konnte Adresse nicht setzen"
@@ -882,6 +889,11 @@ msgstr "Interrupt konnte nicht gestartet werden, RX beschäftigt"
 msgid "Couldn't allocate decoder"
 msgstr "Decoder konnte nicht zugeordnet werden"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC-Kanal-Initialisierungsfehler"
@@ -1000,12 +1012,14 @@ msgstr "Mutex konnte nicht akquiriert werden. Status: 0x%04x"
 
 #: ports/raspberrypi/common-hal/mdns/Server.c
 msgid "Failed to add service TXT record"
-msgstr ""
+msgstr "Fehler beim Hinzufügen des TXT-Diensteintrags"
 
 #: shared-bindings/mdns/Server.c
 msgid ""
 "Failed to add service TXT record; non-string or bytes found in txt_records"
 msgstr ""
+"Fehler beim Hinzufügen des TXT-Diensteintrags; Nicht-Zeichenfolge oder Bytes "
+"in txt_records gefunden"
 
 #: shared-module/rgbmatrix/RGBMatrix.c
 msgid "Failed to allocate %q buffer"
@@ -1035,22 +1049,24 @@ msgstr "Verbindung nicht erfolgreich: timeout"
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: invalid arg"
 msgstr ""
+"Kontinuierliche Kanäle konnten nicht erstellt werden: ungültiges Argument"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: invalid state"
 msgstr ""
+"Kontinuierliche Kanäle konnten nicht erstellt werden: ungültiger Status"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: no mem"
-msgstr ""
+msgstr "Kontinuierliche Kanäle konnten nicht erstellt werden: kein Speicher"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to create continuous channels: not found"
-msgstr ""
+msgstr "Kontinuierliche Kanäle konnten nicht erstellt werden: nicht gefunden"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to enable continuous"
-msgstr ""
+msgstr "Kontinuierliche Aktivierung fehlgeschlagen"
 
 #: shared-module/audiomp3/MP3Decoder.c
 msgid "Failed to parse MP3 file"
@@ -1058,7 +1074,7 @@ msgstr "MP3-Datei konnte nicht analysiert werden"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to register continuous events callback"
-msgstr ""
+msgstr "Rückruf für kontinuierliche Ereignisse konnte nicht registriert werden"
 
 #: ports/nordic/sd_mutex.c
 #, c-format
@@ -1067,11 +1083,11 @@ msgstr "Mutex konnte nicht freigegeben werden. Status: 0x%04x"
 
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "Failed to set hostname"
-msgstr ""
+msgstr "Hostname konnte nicht gesetzt werden"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to start async audio"
-msgstr ""
+msgstr "Start von asynchronem Audio fehlgeschlagen"
 
 #: supervisor/shared/safe_mode.c
 msgid "Failed to write internal flash."
@@ -1224,7 +1240,7 @@ msgstr "Unzureichender Speicherpool für das Bild"
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Insufficient stream input buffer"
-msgstr ""
+msgstr "Unzureichender Stream-Eingabepuffer"
 
 #: ports/espressif/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
@@ -1318,6 +1334,10 @@ msgstr "Ungültige BSSID"
 msgid "Invalid MAC address"
 msgstr "Ungültige MAC-Adresse"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Ungültiges Argument"
@@ -1397,6 +1417,8 @@ msgstr "Ebene muss eine Gruppe oder eine TileGrid Subklasse sein"
 #: shared-bindings/audiocore/RawSample.c
 msgid "Length of %q must be an even multiple of channel_count * type_size"
 msgstr ""
+"Die Länge von %q muss ein gerades Vielfaches von channel_count * type_size "
+"sein"
 
 #: ports/espressif/common-hal/espidf/__init__.c
 msgid "MAC address was invalid"
@@ -1410,7 +1432,7 @@ msgstr "MITM-Sicherheit wird nicht unterstützt"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "MMC/SDIO Clock Error %x"
-msgstr ""
+msgstr "MMC/SDIO-Taktfehler %x"
 
 #: shared-bindings/is31fl3741/IS31FL3741.c
 msgid "Mapping must be a tuple"
@@ -1600,7 +1622,7 @@ msgstr "Kein Pulldown-Widerstand am Pin; 1 MOhm wird vorgeschlagen"
 
 #: shared-module/touchio/TouchIn.c
 msgid "No pullup on pin; 1Mohm recommended"
-msgstr ""
+msgstr "Kein Pullup-Widerstand am Pin; 1Mohm wird vorgeschlagen"
 
 #: py/moderrno.c
 msgid "No space left on device"
@@ -1649,7 +1671,7 @@ msgstr "Nicht unterstützter JPEG-Standard"
 #: ports/espressif/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "Number of data_pins must be %d or %d, not %d"
-msgstr ""
+msgstr "Die Anzahl der data_pins muss %d oder %d sein, nicht %d"
 
 #: shared-bindings/util.c
 msgid ""
@@ -1778,6 +1800,7 @@ msgstr "PWM-Stück-Kanal A wird bereits verwendet"
 #: shared-bindings/spitarget/SPITarget.c
 msgid "Packet buffers for an SPI transfer must have the same length."
 msgstr ""
+"Die Paketpuffer für eine SPI-Übertragung müssen die gleiche Länge haben."
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Parameter error"
@@ -1884,6 +1907,10 @@ msgstr "Programm-Größe ist ungültig"
 msgid "Program too long"
 msgstr "Programm zu lang"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull wird nicht verwendet, wenn die Richtung output ist."
@@ -1904,6 +1931,26 @@ msgstr "RNG DeInit-Fehler"
 msgid "RNG Init Error"
 msgstr "RNG-Init-Fehler"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -1986,7 +2033,7 @@ msgstr "SDIO GetCardInfo-Fehler %d"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "SDIO Init Error %x"
-msgstr ""
+msgstr "SDIO-Init-Fehler %x"
 
 #: ports/espressif/common-hal/busio/SPI.c
 msgid "SPI configuration failed"
@@ -2086,7 +2133,7 @@ msgstr "Die Länge von rgb_pins muss 6, 12, 18, 24 oder 30 betragen"
 
 #: shared-module/audiocore/__init__.c
 msgid "The sample's %q does not match"
-msgstr ""
+msgstr "Der %q-Wert der Probe stimmt nicht überein"
 
 #: supervisor/shared/safe_mode.c
 msgid "Third-party firmware fatal error."
@@ -2120,7 +2167,7 @@ msgstr "Die Kachelbreite muss die Bitmap-Breite genau teilen"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper darf nur einmal an ein TileGrid gebunden werden"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2233,7 +2280,7 @@ msgstr "Konnte keine Buffer für Vorzeichenumwandlung allozieren"
 
 #: supervisor/shared/safe_mode.c
 msgid "Unable to allocate to the heap."
-msgstr ""
+msgstr "Die Zuweisung zum Heap ist nicht möglich."
 
 #: ports/espressif/common-hal/busio/I2C.c
 msgid "Unable to create lock"
@@ -2256,6 +2303,8 @@ msgstr "Konnte Farbpalettendaten nicht lesen"
 #: ports/mimxrt10xx/common-hal/canio/CAN.c
 msgid "Unable to send CAN Message: all Tx message buffers are busy"
 msgstr ""
+"CAN-Nachricht kann nicht gesendet werden: alle Sende-Nachrichtenpuffer sind "
+"belegt"
 
 #: ports/espressif/common-hal/mdns/Server.c
 #: ports/raspberrypi/common-hal/mdns/Server.c
@@ -2360,7 +2409,7 @@ msgstr "Hash Algorithmus wird nicht unterstützt"
 #: ports/espressif/common-hal/socketpool/Socket.c
 #: ports/zephyr-cp/common-hal/socketpool/Socket.c
 msgid "Unsupported socket type"
-msgstr ""
+msgstr "Nicht unterstützter Sockeltyp"
 
 #: ports/espressif/common-hal/_bleio/Adapter.c
 #: ports/espressif/common-hal/dualbank/__init__.c
@@ -2421,7 +2470,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi ist nicht aktiviert"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2520,7 +2569,7 @@ msgstr "addresses ist leer"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "already playing"
-msgstr ""
+msgstr "spielt bereits"
 
 #: py/compile.c
 msgid "annotation must be an identifier"
@@ -2549,6 +2598,7 @@ msgstr "argsort ist für flattened Arrays nicht implementiert"
 #: extmod/ulab/code/numpy/random/random.c
 msgid "argument must be None, an integer or a tuple of integers"
 msgstr ""
+"Das Argument muss None, eine Ganzzahl oder ein Tupel von Ganzzahlen sein"
 
 #: py/compile.c
 msgid "argument name reused"
@@ -2602,7 +2652,7 @@ msgstr "Attribute werden nicht unterstützt"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "audio format not supported"
-msgstr ""
+msgstr "Audioformat wird nicht unterstützt"
 
 #: extmod/ulab/code/ulab_tools.c
 msgid "axis is out of bounds"
@@ -2642,7 +2692,7 @@ msgstr "Der binäre Operator %q ist nicht implementiert"
 
 #: ports/espressif/common-hal/audiobusio/PDMIn.c
 msgid "bit_depth must be 8, 16, 24, or 32."
-msgstr ""
+msgstr "bit_depth muss 8, 16, 24 oder 32 sein."
 
 #: shared-module/bitmapfilter/__init__.c
 msgid "bitmap size and depth must match"
@@ -2658,7 +2708,7 @@ msgstr "bits müssen 32 oder kleiner sein"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample muss 16 sein"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -2873,7 +2923,7 @@ msgstr ""
 
 #: py/objcomplex.c
 msgid "can't truncate-divide a complex number"
-msgstr ""
+msgstr "kann eine komplexe Zahl nicht kürzen und dividieren"
 
 #: extmod/modasyncio.c
 msgid "can't wait"
@@ -3965,7 +4015,7 @@ msgstr "Ausgabe-Array ist zu klein"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "out has wrong type"
-msgstr ""
+msgstr "Ausgabe hat den falschen Typ"
 
 #: extmod/ulab/code/numpy/vector.c
 msgid "out keyword is not supported for complex dtype"
@@ -3993,11 +4043,11 @@ msgstr "Außerhalb des Bereichs des Ziels"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "output array has wrong type"
-msgstr ""
+msgstr "Ausgabe-Array hat einen falschen Typ"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "output array must be contiguous"
-msgstr ""
+msgstr "Ausgabe-Array muss zusammenhängend sein"
 
 #: py/objint_mpz.c
 msgid "overflow converting long int to machine word"
@@ -4110,7 +4160,7 @@ msgstr "rsplit(None,n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed muss wahr sein"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c
@@ -4131,7 +4181,7 @@ msgstr "nicht unterstützt"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "shape must be None, and integer or a tuple of integers"
-msgstr ""
+msgstr "Form muss Keine, eine Ganzzahl oder ein Tupel von Ganzenahlen sein"
 
 #: extmod/ulab/code/ndarray.c
 msgid "shape must be integer or tuple of integers"
@@ -4155,7 +4205,7 @@ msgstr "Größe ist nur für ndarrays definiert"
 
 #: extmod/ulab/code/numpy/random/random.c
 msgid "size must match out.shape when used together"
-msgstr ""
+msgstr "size muss bei gemeinsamer Verwendung mit out.shape übereinstimmen"
 
 #: py/nativeglue.c
 msgid "slice unsupported"
@@ -4203,7 +4253,7 @@ msgstr "source_bitmap muss value_count von 8 haben"
 
 #: extmod/modre.c
 msgid "splitting with sub-captures"
-msgstr ""
+msgstr "Aufteilung mit Untererfassungen"
 
 #: py/objstr.c
 msgid "start/end indices"
@@ -4244,7 +4294,7 @@ msgstr "Syntaxfehler in JSON"
 
 #: extmod/modtime.c
 msgid "ticks interval overflow"
-msgstr ""
+msgstr "Ticks Intervallüberlauf"
 
 #: ports/nordic/common-hal/watchdog/WatchDogTimer.c
 msgid "timeout duration exceeded the maximum supported value"
@@ -4256,12 +4306,12 @@ msgstr "timeout muss kleiner als 655.35 Sekunden sein"
 
 #: ports/raspberrypi/common-hal/floppyio/__init__.c
 msgid "timeout waiting for flux"
-msgstr ""
+msgstr "Zeitüberschreitung beim Warten auf Fluss"
 
 #: ports/raspberrypi/common-hal/floppyio/__init__.c
 #: shared-module/floppyio/__init__.c
 msgid "timeout waiting for index pulse"
-msgstr ""
+msgstr "Zeitüberschreitung beim Warten auf Indeximpuls"
 
 #: shared-module/sdcardio/SDCard.c
 msgid "timeout waiting for v1 card"

locale/el.po

@@ -871,6 +871,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Δεν μπόρεσε να ρυθμιστεί η διεύθυνση"
@@ -883,6 +887,11 @@ msgstr "Δεν μπόρεσε να εκκινηθεί το interrupt, RX κατ
 msgid "Couldn't allocate decoder"
 msgstr "Δεν μπόρεσε να δεσμευτεί decoder"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Σφάλμα εκκίνησης καναλιού DAC"
@@ -1313,6 +1322,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr ""
@@ -1869,6 +1882,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1889,6 +1906,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/en_GB.po

@@ -7,7 +7,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"PO-Revision-Date: 2025-04-25 15:04+0000\n"
+"PO-Revision-Date: 2025-06-15 23:04+0000\n"
 "Last-Translator: Andi Chandler <andi@gowling.com>\n"
 "Language-Team: none\n"
 "Language: en_GB\n"
@@ -865,6 +865,10 @@ msgstr "Coordinate arrays have different lengths"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Coordinate arrays types have different sizes"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr "Could not publish to ROS topic"
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Could not set address"
@@ -877,6 +881,11 @@ msgstr "Could not start interrupt, RX busy"
 msgid "Couldn't allocate decoder"
 msgstr "Couldn't allocate decoder"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr "Critical ROS failure during soft reboot, reset required: %d"
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC channel init error"
@@ -1306,6 +1315,10 @@ msgstr "Invalid BSSID"
 msgid "Invalid MAC address"
 msgstr "Invalid MAC address"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr "Invalid ROS domain ID"
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Invalid argument"
@@ -1865,6 +1878,10 @@ msgstr "Program size invalid"
 msgid "Program too long"
 msgstr "Program too long"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr "Publishers can only be created from a parent node"
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull not used when direction is output."
@@ -1885,6 +1902,26 @@ msgstr "RNG deinit Error"
 msgid "RNG Init Error"
 msgstr "RNG init Error"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr "ROS failed to initialise. Is agent connected?"
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr "ROS internal setup failure"
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr "ROS memory allocator failure"
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr "ROS node failed to initialise"
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr "ROS topic failed to initialise"
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2098,7 +2135,7 @@ msgstr "Tile width must exactly divide bitmap width"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper may only be bound to a TileGrid once"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2393,7 +2430,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi is not enabled"
 
 #: main.c
 msgid "Woken up by alarm.\n"

locale/es.po

@@ -8,15 +8,15 @@ msgstr ""
 "Project-Id-Version: \n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-02-09 17:02+0000\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
-"Last-Translator: karlos g liberal <karlosgliberal@gmail.com>\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: \n"
 "Language: es\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 5.10-dev\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -119,7 +119,7 @@ msgstr "%q fallo: %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q en %q debe ser de tipo %q o %q, no %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -836,7 +836,7 @@ msgstr "No se puede manejar la partición en una subclase"
 
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
 msgid "Cannot use GPIO0..15 together with GPIO32..47"
-msgstr ""
+msgstr "No se puede utilizar GPIO0..15 junto con GPIO32..47"
 
 #: ports/nordic/common-hal/alarm/pin/PinAlarm.c
 msgid "Cannot wake on pin edge, only level"
@@ -874,6 +874,10 @@ msgstr "Las matrices de coordenadas tienen diferentes longitudes"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Las matrices de coordenadas tienen diferentes tamaños"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "No se puede definir la dirección"
@@ -886,6 +890,11 @@ msgstr "No se pudo iniciar la interrupción, RX ocupado"
 msgid "Couldn't allocate decoder"
 msgstr "No se pudo encontrar el decodificador"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Error de inicio del canal DAC"
@@ -1071,7 +1080,7 @@ msgstr "No se puede liberar el mutex, err 0x%04x"
 
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "Failed to set hostname"
-msgstr ""
+msgstr "Fallo al establecer el nombre de host"
 
 #: ports/espressif/common-hal/audioio/AudioOut.c
 msgid "Failed to start async audio"
@@ -1328,6 +1337,10 @@ msgstr "BSSID inválido"
 msgid "Invalid MAC address"
 msgstr "Dirección MAC inválida"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argumento inválido"
@@ -1611,7 +1624,7 @@ msgstr "No hay pulldown en el pin; 1Mohm recomendado"
 
 #: shared-module/touchio/TouchIn.c
 msgid "No pullup on pin; 1Mohm recommended"
-msgstr ""
+msgstr "Sin pullup en el pin; 1Mohm recomendado"
 
 #: py/moderrno.c
 msgid "No space left on device"
@@ -1894,6 +1907,10 @@ msgstr "El tamaño del programa no es correcto"
 msgid "Program too long"
 msgstr "El programa es demasiado grande"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull no se usa cuando la dirección es output."
@@ -1914,6 +1931,26 @@ msgstr "Error de desinicialización de RNG"
 msgid "RNG Init Error"
 msgstr "Error de inicialización de RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2430,7 +2467,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi no está habilitado"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2667,7 +2704,7 @@ msgstr "los bits deben ser 32 o menos"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample debe ser 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -4105,7 +4142,7 @@ msgstr "rsplit(None,n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed debe ser true"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c

locale/fil.po

@@ -857,6 +857,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -869,6 +873,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1299,6 +1308,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Maling argumento"
@@ -1858,6 +1871,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull hindi ginagamit kapag ang direksyon ay output."
@@ -1878,6 +1895,26 @@ msgstr "Error sa RNG DeInit"
 msgid "RNG Init Error"
 msgstr "Error sa RNG Init"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/fr.po

@@ -8,15 +8,15 @@ msgstr ""
 "Project-Id-Version: 0.1\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-02-19 11:46+0000\n"
+"PO-Revision-Date: 2025-06-12 23:09+0000\n"
-"Last-Translator: Noel Gaetan <gaetan.noel@viacesi.fr>\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: \n"
 "Language: fr\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=utf-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 5.10.1-dev\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -118,7 +118,7 @@ msgstr "Échec de %q : %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q dans %q doit être du type %q ou %q, pas %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -824,6 +824,7 @@ msgstr "Impossible d'enregistrer vers un fichier"
 #: shared-module/storage/__init__.c
 msgid "Cannot remount path when visible via USB."
 msgstr ""
+"Impossible de remonter le chemin d'accès lorsqu'il est visible via USB."
 
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Cannot set value when direction is input."
@@ -880,6 +881,10 @@ msgstr "Les tableaux de coordonnées sont de longueur différentes"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Les types des tableaux de coordonnées sont de longueur différentes"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Ne peux définir l'adresse"
@@ -892,6 +897,11 @@ msgstr "Ne peux lancer l'interruption, RX occupé"
 msgid "Couldn't allocate decoder"
 msgstr "Ne peux allouer le décodeur"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Erreur init du canal DAC"
@@ -1332,6 +1342,10 @@ msgstr "BSSID invalide"
 msgid "Invalid MAC address"
 msgstr "Adresse MAC invalide"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Paramètre invalide"
@@ -1424,7 +1438,7 @@ msgstr "Sécurité MITM n'est pas supportée"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "MMC/SDIO Clock Error %x"
-msgstr ""
+msgstr "Erreur d'horloge MMC/SDIO %x"
 
 #: shared-bindings/is31fl3741/IS31FL3741.c
 msgid "Mapping must be a tuple"
@@ -1622,7 +1636,7 @@ msgstr "Pas de pulldown sur la broche ; 1Mohm requis"
 
 #: shared-module/touchio/TouchIn.c
 msgid "No pullup on pin; 1Mohm recommended"
-msgstr ""
+msgstr "Pas de pullup sur la broche ; 1Mohm recommandé"
 
 #: py/moderrno.c
 msgid "No space left on device"
@@ -1904,6 +1918,10 @@ msgstr "Taille du programme invalide"
 msgid "Program too long"
 msgstr "Programme trop long"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Le tirage 'pull' n'est pas utilisé quand la direction est 'output'."
@@ -1924,6 +1942,26 @@ msgstr "Erreur de désinitialisation du RNG"
 msgid "RNG Init Error"
 msgstr "Erreur d'initialisation du RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2138,7 +2176,7 @@ msgstr "La largeur de la tuile doit diviser exactement la largeur de l'image"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper ne peut être lié à un TileGrid qu'une seule fois"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2439,7 +2477,7 @@ msgstr "Wi-Fi : "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "Le WiFi n'est pas activé"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2677,7 +2715,7 @@ msgstr "les bits doivent être 32 ou moins"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample doit être de 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -2686,7 +2724,7 @@ msgstr ""
 #: shared-bindings/audiofilters/Filter.c shared-bindings/audiofilters/Phaser.c
 #: shared-bindings/audiomixer/Mixer.c
 msgid "bits_per_sample must be 8 or 16"
-msgstr "'bits_per_sample' doivent être 8 ou 16"
+msgstr "bits_per_sample doivent être 8 ou 16"
 
 #: py/emitinlinethumb.c
 msgid "branch not in range"
@@ -4126,7 +4164,7 @@ msgstr "rsplit(None, n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed doit être vrai"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c

locale/hi.po

@@ -850,6 +850,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -862,6 +866,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1289,6 +1298,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr ""
@@ -1843,6 +1856,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1863,6 +1880,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/it_IT.po

@@ -856,6 +856,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr ""
@@ -868,6 +872,11 @@ msgstr ""
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1297,6 +1306,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argomento non valido"
@@ -1856,6 +1869,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1876,6 +1893,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/ja.po

@@ -867,6 +867,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "アドレスをセットできません"
@@ -879,6 +883,11 @@ msgstr "割り込みをスタートできません。RXビジー"
 msgid "Couldn't allocate decoder"
 msgstr "デコーダを確保できません"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DACチャネル初期化エラー"
@@ -1306,6 +1315,10 @@ msgstr "不正なBSSID"
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "不正な引数"
@@ -1865,6 +1878,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "方向がoutputのときpullは使われません"
@@ -1885,6 +1902,26 @@ msgstr "RNG解体エラー"
 msgid "RNG Init Error"
 msgstr "乱数生成器の初期化エラー"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/ko.po

@@ -895,6 +895,10 @@ msgstr "좌표 배열의 길이가 다릅니다"
 msgid "Coordinate arrays types have different sizes"
 msgstr "좌표 배열 유형은 크기가 다릅니다"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "주소를 설정할 수 없습니다"
@@ -907,6 +911,11 @@ msgstr "인터럽트를 시작할 수 없습니다, RX가 사용 중입니다"
 msgid "Couldn't allocate decoder"
 msgstr "디코더를 할당할 수 없습니다"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC 채널 초기화 오류"
@@ -1341,6 +1350,10 @@ msgstr "잘못된 BSSID"
 msgid "Invalid MAC address"
 msgstr "잘못된 MAC 주소"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "잘못된 인수"
@@ -1917,6 +1930,10 @@ msgstr "프로그램 크기가 잘못되었습니다"
 msgid "Program too long"
 msgstr "프로그램이 너무 깁니다"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 #, fuzzy
 msgid "Pull not used when direction is output."
@@ -1938,6 +1955,26 @@ msgstr "RNG DeInit 오류"
 msgid "RNG Init Error"
 msgstr "RNG 초기화 오류"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/nl.po

@@ -6,15 +6,15 @@ msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2023-11-16 15:03+0000\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
-"Last-Translator: Jeff Epler <jepler@gmail.com>\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: none\n"
 "Language: nl\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n != 1;\n"
-"X-Generator: Weblate 5.2\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -61,7 +61,7 @@ msgstr ""
 
 #: main.c
 msgid " not found.\n"
-msgstr ""
+msgstr " niet gevonden.\n"
 
 #: main.c
 msgid " output:\n"
@@ -558,7 +558,7 @@ msgstr "Heeft al een luisteraar voor 'all-matches'"
 
 #: ports/espressif/common-hal/_bleio/__init__.c
 msgid "Already in progress"
-msgstr ""
+msgstr "Al in uitvoering"
 
 #: ports/espressif/bindings/espnow/ESPNow.c
 #: ports/espressif/common-hal/espulp/ULP.c
@@ -612,7 +612,7 @@ msgstr ""
 #: ports/raspberrypi/common-hal/audiobusio/I2SOut.c
 #: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c
 msgid "Audio source error"
-msgstr ""
+msgstr "Audiobronfout"
 
 #: shared-bindings/wifi/Radio.c
 msgid "AuthMode.OPEN is not used with password"
@@ -701,7 +701,7 @@ msgstr "Buffer is %d bytes te klein"
 #: shared-bindings/framebufferio/FramebufferDisplay.c
 #: shared-bindings/struct/__init__.c shared-module/struct/__init__.c
 msgid "Buffer too small"
-msgstr ""
+msgstr "Buffer te klein"
 
 #: ports/atmel-samd/common-hal/paralleldisplaybus/ParallelBus.c
 #: ports/espressif/common-hal/paralleldisplaybus/ParallelBus.c
@@ -853,6 +853,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Kan adres niet zetten"
@@ -865,6 +869,11 @@ msgstr "Kan interrupt niet starten, RX is bezig"
 msgid "Couldn't allocate decoder"
 msgstr "Kan decoder niet alloceren"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC kanaal Init Fout"
@@ -925,7 +934,7 @@ msgstr "Beeldscherm rotatie moet in stappen van 90 graden"
 
 #: main.c
 msgid "Done"
-msgstr ""
+msgstr "Gedaan"
 
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Drive mode not used when direction is input."
@@ -1064,7 +1073,7 @@ msgstr "Bestand bestaat"
 #: shared-bindings/supervisor/__init__.c shared-module/lvfontio/OnDiskFont.c
 #: shared-module/os/getenv.c
 msgid "File not found"
-msgstr ""
+msgstr "Bestand niet gevonden"
 
 #: ports/atmel-samd/common-hal/canio/Listener.c
 #: ports/espressif/common-hal/canio/Listener.c
@@ -1075,11 +1084,11 @@ msgstr "Filters zijn te complex"
 
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Firmware is duplicate"
-msgstr ""
+msgstr "Firmware is duplicaat"
 
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Firmware is invalid"
-msgstr ""
+msgstr "Firmware is ongeldig"
 
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Firmware is too big"
@@ -1113,7 +1122,7 @@ msgstr ""
 
 #: ports/espressif/common-hal/espidf/__init__.c
 msgid "Generic Failure"
-msgstr ""
+msgstr "Generieke mislukking"
 
 #: shared-bindings/framebufferio/FramebufferDisplay.c
 #: shared-module/busdisplay/BusDisplay.c
@@ -1215,7 +1224,7 @@ msgstr "Interne define fout"
 
 #: shared-bindings/pwmio/PWMOut.c shared-module/os/getenv.c
 msgid "Internal error"
-msgstr ""
+msgstr "Interne fout"
 
 #: shared-module/rgbmatrix/RGBMatrix.c
 #, c-format
@@ -1241,7 +1250,7 @@ msgstr ""
 
 #: supervisor/shared/safe_mode.c
 msgid "Interrupt error."
-msgstr ""
+msgstr "Interruptfout."
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Interrupted by output function"
@@ -1282,7 +1291,7 @@ msgstr "Ongeldige ADC Unit waarde"
 #: ports/espressif/common-hal/_bleio/__init__.c
 #: ports/nordic/common-hal/_bleio/__init__.c
 msgid "Invalid BLE parameter"
-msgstr ""
+msgstr "Ongeldige BLE-parameter"
 
 #: shared-bindings/wifi/Radio.c
 msgid "Invalid BSSID"
@@ -1290,6 +1299,10 @@ msgstr "Ongeldig BSSID"
 
 #: shared-bindings/wifi/Radio.c
 msgid "Invalid MAC address"
+msgstr "Ongeldig MAC-adres"
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
 msgstr ""
 
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
@@ -1312,7 +1325,7 @@ msgstr ""
 
 #: shared-module/msgpack/__init__.c
 msgid "Invalid format"
-msgstr ""
+msgstr "Ongeldig formaat"
 
 #: shared-module/audiocore/WaveFile.c
 msgid "Invalid format chunk size"
@@ -1329,7 +1342,7 @@ msgstr ""
 
 #: ports/espressif/common-hal/espidf/__init__.c
 msgid "Invalid size"
-msgstr ""
+msgstr "Ongeldige grootte"
 
 #: shared-module/ssl/SSLSocket.c
 msgid "Invalid socket for TLS"
@@ -1338,11 +1351,11 @@ msgstr ""
 #: ports/espressif/common-hal/espidf/__init__.c
 #: ports/nordic/common-hal/_bleio/__init__.c
 msgid "Invalid state"
-msgstr ""
+msgstr "Ongeldige staat"
 
 #: shared-module/os/getenv.c
 msgid "Invalid unicode escape"
-msgstr ""
+msgstr "Ongeldige unicode escape"
 
 #: shared-bindings/aesio/aes.c
 msgid "Key must be 16, 24, or 32 bytes long"
@@ -1350,7 +1363,7 @@ msgstr "Sleutel moet 16, 24, of 32 bytes lang zijn"
 
 #: shared-module/os/getenv.c
 msgid "Key not found"
-msgstr ""
+msgstr "Sleutel niet gevonden"
 
 #: shared-module/is31fl3741/FrameBuffer.c
 msgid "LED mappings must match display size"
@@ -1855,6 +1868,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull niet gebruikt wanneer de richting output is."
@@ -1875,10 +1892,30 @@ msgstr "RNG DeInit Fout"
 msgid "RNG Init Error"
 msgstr "RNG Init Fout"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
-msgstr ""
+msgstr "RS485"
 
 #: ports/espressif/common-hal/busio/UART.c
 #: ports/mimxrt10xx/common-hal/busio/UART.c
@@ -1910,7 +1947,7 @@ msgstr ""
 
 #: supervisor/shared/bluetooth/bluetooth.c
 msgid "Reconnecting"
-msgstr ""
+msgstr "Opnieuw aansluiten"
 
 #: shared-bindings/epaperdisplay/EPaperDisplay.c
 msgid "Refresh too soon"
@@ -2378,7 +2415,7 @@ msgstr ""
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi is niet ingeschakeld"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -4416,7 +4453,7 @@ msgstr "breedte moet groter dan nul zijn"
 
 #: ports/raspberrypi/common-hal/wifi/Monitor.c
 msgid "wifi.Monitor not available"
-msgstr ""
+msgstr "wifi.monitor niet beschikbaar"
 
 #: shared-bindings/_bleio/Adapter.c
 msgid "window must be <= interval"

locale/pl.po

@@ -7,16 +7,16 @@ msgstr ""
 "Project-Id-Version: \n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2023-11-16 15:03+0000\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
-"Last-Translator: Szymon Jakubiak <sz.a.jakubiak@gmail.com>\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: pl\n"
 "Language: pl\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=3; plural=n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 "
+"Plural-Forms: nplurals=3; plural=(n==1 ? 0 : n%10>=2 && n%10<=4 && (n%100<10 "
-"|| n%100>=20) ? 1 : 2;\n"
+"|| n%100>=20) ? 1 : 2);\n"
-"X-Generator: Weblate 5.2\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -864,6 +864,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Nie można ustawić adresu"
@@ -876,6 +880,11 @@ msgstr "Nie można rozpocząć przerwania, RX jest zajęty"
 msgid "Couldn't allocate decoder"
 msgstr "Nie udało się przydzielić dekodera"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Błąd inicjalizacji kanału DAC"
@@ -1311,6 +1320,10 @@ msgstr ""
 msgid "Invalid MAC address"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Zły argument"
@@ -1754,7 +1767,7 @@ msgstr ""
 
 #: ports/stm/common-hal/pwmio/PWMOut.c
 msgid "PWM restart"
-msgstr ""
+msgstr "Ponowne uruchomienie PWM"
 
 #: ports/raspberrypi/common-hal/countio/Counter.c
 msgid "PWM slice already in use"
@@ -1770,7 +1783,7 @@ msgstr ""
 
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Parameter error"
-msgstr ""
+msgstr "Błąd parametru"
 
 #: ports/espressif/common-hal/audiobusio/__init__.c
 msgid "Peripheral in use"
@@ -1867,6 +1880,10 @@ msgstr ""
 
 #: ports/espressif/common-hal/espulp/ULP.c
 msgid "Program too long"
+msgstr "Program zbyt długi"
+
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
 msgstr ""
 
 #: shared-bindings/digitalio/DigitalInOut.c
@@ -1889,10 +1906,30 @@ msgstr "Błąd RNG DeInit"
 msgid "RNG Init Error"
 msgstr "Błąd inicjalizacji RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
-msgstr ""
+msgstr "RS485"
 
 #: ports/espressif/common-hal/busio/UART.c
 #: ports/mimxrt10xx/common-hal/busio/UART.c
@@ -1924,7 +1961,7 @@ msgstr "Otrzymana odpowiedź była nieprawidłowa"
 
 #: supervisor/shared/bluetooth/bluetooth.c
 msgid "Reconnecting"
-msgstr ""
+msgstr "Ponowne połączenie"
 
 #: shared-bindings/epaperdisplay/EPaperDisplay.c
 msgid "Refresh too soon"
@@ -2009,7 +2046,7 @@ msgstr ""
 
 #: ports/cxd56/common-hal/camera/Camera.c
 msgid "Size not supported"
-msgstr ""
+msgstr "Rozmiar nieobsługiwany"
 
 #: shared-bindings/alarm/SleepMemory.c shared-bindings/memorymap/AddressRange.c
 #: shared-bindings/nvm/ByteArray.c
@@ -2140,7 +2177,7 @@ msgstr ""
 #: ports/raspberrypi/common-hal/alarm/touch/TouchAlarm.c
 #: ports/stm/common-hal/alarm/touch/TouchAlarm.c
 msgid "Touch alarms not available"
-msgstr ""
+msgstr "Alarmy dotykowe niedostępne"
 
 #: py/obj.c
 msgid "Traceback (most recent call last):\n"
@@ -2169,7 +2206,7 @@ msgstr ""
 
 #: main.c
 msgid "UID:"
-msgstr ""
+msgstr "UID:"
 
 #: shared-module/usb_hid/Device.c
 msgid "USB busy"
@@ -2185,7 +2222,7 @@ msgstr ""
 
 #: shared-module/usb_hid/Device.c
 msgid "USB error"
-msgstr ""
+msgstr "Błąd USB"
 
 #: shared-bindings/_bleio/UUID.c
 msgid "UUID integer value must be 0-0xffff"
@@ -2251,7 +2288,7 @@ msgstr ""
 
 #: shared-bindings/alarm/SleepMemory.c
 msgid "Unable to write to sleep_memory."
-msgstr ""
+msgstr "Nie można zapisać do sleep_memory."
 
 #: ports/nordic/common-hal/_bleio/UUID.c
 msgid "Unexpected nrfx uuid type"
@@ -2342,7 +2379,7 @@ msgstr ""
 #: ports/espressif/common-hal/_bleio/Adapter.c
 #: ports/espressif/common-hal/dualbank/__init__.c
 msgid "Update failed"
-msgstr ""
+msgstr "Aktualizacja nie powiodła się"
 
 #: ports/espressif/common-hal/_bleio/Characteristic.c
 #: ports/nordic/common-hal/_bleio/Characteristic.c
@@ -2381,16 +2418,21 @@ msgid ""
 "\n"
 "To list built-in modules type `help(\"modules\")`.\n"
 msgstr ""
+"Witamy w Adafruit CircuitPython %s!\n"
+"\n"
+"Odwiedź circuitpython.org po więcej informacji.\n"
+"\n"
+"Aby wyświetlić listę wbudowanych modułów wpisz `help(„modules”)`.\n"
 
 #: supervisor/shared/web_workflow/web_workflow.c
 msgid "Wi-Fi: "
-msgstr ""
+msgstr "Wi-Fi: "
 
 #: ports/espressif/common-hal/wifi/Radio.c
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi nie jest włączone"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2611,7 +2653,7 @@ msgstr "brak dwu-argumentowego operatora %q"
 
 #: ports/espressif/common-hal/audiobusio/PDMIn.c
 msgid "bit_depth must be 8, 16, 24, or 32."
-msgstr ""
+msgstr "bit_depth musi wynosić 8, 16, 24 lub 32."
 
 #: shared-module/bitmapfilter/__init__.c
 msgid "bitmap size and depth must match"
@@ -2623,11 +2665,11 @@ msgstr ""
 
 #: extmod/modrandom.c
 msgid "bits must be 32 or less"
-msgstr ""
+msgstr "bitów musi wynosić 32 lub mniej"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample musi wynosić 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -2838,7 +2880,7 @@ msgstr ""
 
 #: extmod/modasyncio.c
 msgid "can't wait"
-msgstr ""
+msgstr "nie mogę się doczekać"
 
 #: extmod/ulab/code/ndarray.c
 msgid "cannot assign new shape"
@@ -3025,7 +3067,7 @@ msgstr ""
 
 #: extmod/ulab/code/numpy/create.c
 msgid "divide by zero"
-msgstr ""
+msgstr "dziel przez zero"
 
 #: py/runtime.c
 msgid "division by zero"
@@ -3045,7 +3087,7 @@ msgstr "puste"
 
 #: extmod/ulab/code/numpy/io/io.c
 msgid "empty file"
-msgstr ""
+msgstr "puste plik"
 
 #: extmod/modasyncio.c extmod/modheapq.c
 msgid "empty heap"
@@ -3164,7 +3206,7 @@ msgstr "float zbyt wielki"
 
 #: py/nativeglue.c
 msgid "float unsupported"
-msgstr ""
+msgstr "float nieobsługiwany"
 
 #: shared-bindings/_stage/Text.c
 msgid "font must be 2048 bytes long"
@@ -3172,7 +3214,7 @@ msgstr "font musi mieć 2048 bajtów długości"
 
 #: extmod/moddeflate.c
 msgid "format"
-msgstr ""
+msgstr "format"
 
 #: py/objstr.c
 msgid "format needs a dict"
@@ -3273,7 +3315,7 @@ msgstr ""
 
 #: py/persistentcode.c
 msgid "incompatible .mpy file"
-msgstr ""
+msgstr "niekompatybilny plik .mpy"
 
 #: py/objstr.c
 msgid "incomplete format"
@@ -3685,7 +3727,7 @@ msgstr ""
 
 #: shared-module/sdcardio/SDCard.c
 msgid "no SD card"
-msgstr ""
+msgstr "brak karty SD"
 
 #: py/vm.c
 msgid "no active exception to reraise"
@@ -3766,7 +3808,7 @@ msgstr "liczba punktów musi wynosić co najmniej 2"
 
 #: py/builtinhelp.c
 msgid "object "
-msgstr ""
+msgstr "obiekt "
 
 #: py/obj.c
 #, c-format
@@ -3820,7 +3862,7 @@ msgstr "łańcuch o nieparzystej długości"
 
 #: supervisor/shared/web_workflow/web_workflow.c
 msgid "off"
-msgstr ""
+msgstr "wył"
 
 #: extmod/ulab/code/utils/utils.c
 msgid "offset is too large"

locale/pt_BR.po

@@ -6,15 +6,15 @@ msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-03-09 18:40+0000\n"
+"PO-Revision-Date: 2025-06-09 12:01+0000\n"
-"Last-Translator: Wellington Terumi Uemura <wellingtonuemura@gmail.com>\n"
+"Last-Translator: MAE <martin-aehle@hotmail.de>\n"
 "Language-Team: \n"
 "Language: pt_BR\n"
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=n > 1;\n"
-"X-Generator: Weblate 5.10.3-dev\n"
+"X-Generator: Weblate 5.12-dev\n"
 
 #: main.c
 msgid ""
@@ -117,7 +117,7 @@ msgstr "%q falha: %d"
 
 #: shared-module/audiodelays/MultiTapDelay.c
 msgid "%q in %q must be of type %q or %q, not %q"
-msgstr ""
+msgstr "%q em %q deve ser do tipo %q ou %q, não %q"
 
 #: py/argcheck.c shared-module/audiofilters/Filter.c
 msgid "%q in %q must be of type %q, not %q"
@@ -874,6 +874,10 @@ msgstr "As coordenadas das matrizes possuem comprimentos diferentes"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Os tipos das coordenadas das matrizes possuem tamanhos diferentes"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Não foi possível definir o endereço"
@@ -886,6 +890,11 @@ msgstr "Não foi possível iniciar a interrupção, RX ocupado"
 msgid "Couldn't allocate decoder"
 msgstr "Não foi possível alocar o decodificador"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Erro de Inicialização do Canal DAC"
@@ -1325,6 +1334,10 @@ msgstr "BSSID Inválido"
 msgid "Invalid MAC address"
 msgstr "Endereço MAC inválido"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Argumento inválido"
@@ -1418,7 +1431,7 @@ msgstr "Não há suporte para segurança MITM"
 #: ports/stm/common-hal/sdioio/SDCard.c
 #, c-format
 msgid "MMC/SDIO Clock Error %x"
-msgstr ""
+msgstr "Erro de relógio MMC/SDIO %x"
 
 #: shared-bindings/is31fl3741/IS31FL3741.c
 msgid "Mapping must be a tuple"
@@ -1897,6 +1910,10 @@ msgstr "O tamanho do programa é inválido"
 msgid "Program too long"
 msgstr "Programa muito longo"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "O Pull não foi usado quando a direção for gerada."
@@ -1917,6 +1934,26 @@ msgstr "Erro DeInit RNG"
 msgid "RNG Init Error"
 msgstr "Houve um erro na inicialização do RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2435,7 +2472,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "O WiFi não está habilitado"
 
 #: main.c
 msgid "Woken up by alarm.\n"
@@ -2673,7 +2710,7 @@ msgstr "bits deve ser 32 ou menos"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "bits_per_sample must be 16"
-msgstr ""
+msgstr "bits_per_sample deve ser 16"
 
 #: shared-bindings/audiodelays/Chorus.c shared-bindings/audiodelays/Echo.c
 #: shared-bindings/audiodelays/MultiTapDelay.c
@@ -4119,7 +4156,7 @@ msgstr "rsplit(Nenhum,n)"
 
 #: shared-bindings/audiofreeverb/Freeverb.c
 msgid "samples_signed must be true"
-msgstr ""
+msgstr "samples_signed deve ser verdadeiro"
 
 #: ports/atmel-samd/common-hal/audiobusio/PDMIn.c
 #: ports/raspberrypi/common-hal/audiobusio/PDMIn.c

locale/ru.po

@@ -874,6 +874,10 @@ msgstr "Координатные массивы имеют разные длин
 msgid "Coordinate arrays types have different sizes"
 msgstr "Типы массивов координат имеют разные размеры"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Не удалось задать адрес"
@@ -886,6 +890,11 @@ msgstr "Не удалось запустить прерывание, RX заня
 msgid "Couldn't allocate decoder"
 msgstr "Не удалось выделить место для декодера"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Ошибка инициализации канала DAC"
@@ -1328,6 +1337,10 @@ msgstr "Неверный BSSID"
 msgid "Invalid MAC address"
 msgstr "Неверный MAC-адрес"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Недопустимый аргумент"
@@ -1894,6 +1907,10 @@ msgstr "Недопустимый размер программы"
 msgid "Program too long"
 msgstr "Слишком длинная программа"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Тяга не используется, когда выводится направление."
@@ -1914,6 +1931,26 @@ msgstr "Ошибка деинициализации генератора слу
 msgid "RNG Init Error"
 msgstr "Ошибка инициализации RNG"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/sv.po

@@ -6,8 +6,8 @@ msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-05-15 08:01+0000\n"
+"PO-Revision-Date: 2025-06-15 23:04+0000\n"
-"Last-Translator: Jonny Bergdahl <jonny@bergdahl.it>\n"
+"Last-Translator: Jonny Bergdahl <github@bergdahl.org>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
 "Language: sv\n"
 "MIME-Version: 1.0\n"
@@ -868,6 +868,10 @@ msgstr "Arrayer för koordinater har olika längd"
 msgid "Coordinate arrays types have different sizes"
 msgstr "Arrayer för koordinater har olika storlek"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr "Kan inte publicera till ROS topic"
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Kan inte ange adress"
@@ -880,6 +884,11 @@ msgstr "Det gick inte att starta avbrott, RX upptagen"
 msgid "Couldn't allocate decoder"
 msgstr "Det gick inte att allokera avkodaren"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr "Kritiskt ROS-fel vid mjuk omstart, reset krävs: %d"
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "Initieringsfel för DAC-kanal"
@@ -1314,6 +1323,10 @@ msgstr "Ogiltig BSSID"
 msgid "Invalid MAC address"
 msgstr "Ogiltig MAC-adress"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr "Ogiltigt ROS domän-id"
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Ogiltigt argument"
@@ -1876,6 +1889,10 @@ msgstr "Programstorlek ogiltig"
 msgid "Program too long"
 msgstr "Programmet är för långt"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr "Publicerare kan bara skapas from föräldranod"
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Pull används inte när riktningen är output."
@@ -1896,6 +1913,26 @@ msgstr "RNG DeInit-fel"
 msgid "RNG Init Error"
 msgstr "RNG Init-fel"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr "Fel vid ROS initialisering, är agent ansluten?"
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr "Fel vid ROS intern inställning"
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr "Fel vid ROS minnesallokering"
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr "Fel vid ROS-nods initialisering"
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr "Fel vid initialisering av ROS topic"
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/tr.po

@@ -864,6 +864,10 @@ msgstr ""
 msgid "Coordinate arrays types have different sizes"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "Adres ayarlanamadı"
@@ -876,6 +880,11 @@ msgstr "Kesinti başlatılamadı, RX kullanımda"
 msgid "Couldn't allocate decoder"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr ""
@@ -1307,6 +1316,10 @@ msgstr "Geçersiz BSSID"
 msgid "Invalid MAC address"
 msgstr "Geçersiz MAC adresi"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Geçersiz argüman"
@@ -1865,6 +1878,10 @@ msgstr ""
 msgid "Program too long"
 msgstr ""
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr ""
@@ -1885,6 +1902,26 @@ msgstr ""
 msgid "RNG Init Error"
 msgstr ""
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"

locale/zh_Latn_pinyin.po

@@ -7,7 +7,7 @@ msgstr ""
 "Project-Id-Version: circuitpython-cn\n"
 "Report-Msgid-Bugs-To: \n"
 "POT-Creation-Date: 2021-01-04 12:55-0600\n"
-"PO-Revision-Date: 2025-04-25 15:04+0000\n"
+"PO-Revision-Date: 2025-05-31 20:05+0000\n"
 "Last-Translator: hexthat <hexthat@gmail.com>\n"
 "Language-Team: Chinese Hanyu Pinyin\n"
 "Language: zh_Latn_pinyin\n"
@@ -868,6 +868,10 @@ msgstr "zuòbiāo shùzǔ jùyǒu bùtóng de chángdù"
 msgid "Coordinate arrays types have different sizes"
 msgstr "zuòbiāo shùzǔ lèixíng jùyǒu bùtóng de dàxiǎo"
 
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "Could not publish to ROS topic"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "Could not set address"
 msgstr "wúfǎ shèzhì dìzhǐ"
@@ -880,6 +884,11 @@ msgstr "Wúfǎ qǐdòng zhōngduàn,RX máng"
 msgid "Couldn't allocate decoder"
 msgstr "wúfǎ fēnpèi jiěmǎ qì"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+#, c-format
+msgid "Critical ROS failure during soft reboot, reset required: %d"
+msgstr ""
+
 #: ports/stm/common-hal/analogio/AnalogOut.c
 msgid "DAC Channel Init Error"
 msgstr "DAC tōngdào chūshǐhuà cuòwù"
@@ -1320,6 +1329,10 @@ msgstr "Wúxiào de BSSID"
 msgid "Invalid MAC address"
 msgstr "wú xiào de MAC dì zhǐ"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "Invalid ROS domain ID"
+msgstr ""
+
 #: ports/espressif/common-hal/espidf/__init__.c py/moderrno.c
 msgid "Invalid argument"
 msgstr "Wúxiào de cānshù"
@@ -1883,6 +1896,10 @@ msgstr "chéng xù dà xiǎo wú xiào"
 msgid "Program too long"
 msgstr "chéng xù tài cháng"
 
+#: shared-bindings/rclcpy/Publisher.c
+msgid "Publishers can only be created from a parent node"
+msgstr ""
+
 #: shared-bindings/digitalio/DigitalInOut.c
 msgid "Pull not used when direction is output."
 msgstr "Fāngxiàng shūchū shí Pull méiyǒu shǐyòng."
@@ -1903,6 +1920,26 @@ msgstr "RNG qǔxiāo chūshǐhuà cuòwù"
 msgid "RNG Init Error"
 msgstr "RNG chūshǐhuà cuòwù"
 
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS failed to initialize. Is agent connected?"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS internal setup failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/__init__.c
+msgid "ROS memory allocator failure"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Node.c
+msgid "ROS node failed to initialize"
+msgstr ""
+
+#: ports/espressif/common-hal/rclcpy/Publisher.c
+msgid "ROS topic failed to initialize"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/busio/UART.c ports/cxd56/common-hal/busio/UART.c
 #: ports/nordic/common-hal/busio/UART.c ports/stm/common-hal/busio/UART.c
 msgid "RS485"
@@ -2116,7 +2153,7 @@ msgstr "Píng pū kuāndù bìxū huàfēn wèi tú kuāndù"
 
 #: shared-module/tilepalettemapper/TilePaletteMapper.c
 msgid "TilePaletteMapper may only be bound to a TileGrid once"
-msgstr ""
+msgstr "TilePaletteMapper zhǐnéng bǎngdìng dào yígè TileGrid shàngyícì"
 
 #: shared-bindings/alarm/time/TimeAlarm.c
 msgid "Time is in the past."
@@ -2411,7 +2448,7 @@ msgstr "Wi-Fi: "
 #: ports/raspberrypi/common-hal/wifi/Radio.c
 #: ports/zephyr-cp/common-hal/wifi/Radio.c
 msgid "WiFi is not enabled"
-msgstr ""
+msgstr "WiFi wèi qǐyòng"
 
 #: main.c
 msgid "Woken up by alarm.\n"

ports/espressif/Makefile

@@ -440,6 +440,55 @@ CFLAGS += -isystem esp-camera/driver/include
 CFLAGS += -isystem esp-camera/conversions/include
 endif
 
+ifneq ($(CIRCUITPY_RCLCPY),0)
+CFLAGS += -isystem microros-lib/include
+CFLAGS += -isystem microros-lib/include/rcl
+CFLAGS += -isystem microros-lib/include/statistics_msgs
+CFLAGS += -isystem microros-lib/include/composition_interfaces
+CFLAGS += -isystem microros-lib/include/example_interfaces
+CFLAGS += -isystem microros-lib/include/rmw_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/test_msgs
+CFLAGS += -isystem microros-lib/include/std_msgs
+CFLAGS += -isystem microros-lib/include/rcutils
+CFLAGS += -isystem microros-lib/include/lifecycle_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_interface
+CFLAGS += -isystem microros-lib/include/service_msgs
+CFLAGS += -isystem microros-lib/include/visualization_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_dynamic_typesupport
+CFLAGS += -isystem microros-lib/include/stereo_msgs
+CFLAGS += -isystem microros-lib/include/ucdr
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_c
+CFLAGS += -isystem microros-lib/include/std_srvs
+CFLAGS += -isystem microros-lib/include/rcl_lifecycle
+CFLAGS += -isystem microros-lib/include/action_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_utilities
+CFLAGS += -isystem microros-lib/include/rcl_action
+CFLAGS += -isystem microros-lib/include/rcl_logging_interface
+CFLAGS += -isystem microros-lib/include/type_description_interfaces
+CFLAGS += -isystem microros-lib/include/nav_msgs
+CFLAGS += -isystem microros-lib/include/actionlib_msgs
+CFLAGS += -isystem microros-lib/include/rmw
+CFLAGS += -isystem microros-lib/include/rclc_parameter
+CFLAGS += -isystem microros-lib/include/geometry_msgs
+CFLAGS += -isystem microros-lib/include/sensor_msgs
+CFLAGS += -isystem microros-lib/include/trajectory_msgs
+CFLAGS += -isystem microros-lib/include/shape_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_runtime_c
+CFLAGS += -isystem microros-lib/include/rclc
+CFLAGS += -isystem microros-lib/include/rosgraph_msgs
+CFLAGS += -isystem microros-lib/include/rclc_lifecycle
+CFLAGS += -isystem microros-lib/include/rcl_interfaces
+CFLAGS += -isystem microros-lib/include/diagnostic_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_introspection_c
+CFLAGS += -isystem microros-lib/include/uxr
+CFLAGS += -isystem microros-lib/include/unique_identifier_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/builtin_interfaces
+CFLAGS += -isystem microros-lib/include/tracetools
+CFLAGS += -isystem microros-lib/include/rmw_microros
+endif
+
 ifneq ($(CIRCUITPY_ESPIDF),0)
 SRC_ESPIDF := \
 	$(wildcard common-hal/espidf/*.c) \
@@ -523,11 +572,14 @@ ifeq ($(CIRCUITPY_ESP_FLASH_SIZE), 2MB)
 else
 UF2_BOOTLOADER ?= $(CIRCUITPY_USB_DEVICE)
 ifeq ($(UF2_BOOTLOADER), 1)
+# UF2-capable board
 	FLASH_SIZE_SDKCONFIG ?= esp-idf-config/sdkconfig-flash-$(CIRCUITPY_ESP_FLASH_SIZE).defaults
 else
+# non-UF2 partition layout
 ifeq ($(CIRCUITPY_ESP_FLASH_SIZE), 4MB)
-	ifeq ($(CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT), 1)
+	ifeq ($(CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT), 1)
-		FLASH_SIZE_SDKCONFIG ?= esp-idf-config/sdkconfig-flash-$(CIRCUITPY_ESP_FLASH_SIZE)-no-uf2.defaults
+# Some boards use a 2MB firmware and almost 2MB user filesystem, for historical reasons.
+		FLASH_SIZE_SDKCONFIG ?= esp-idf-config/sdkconfig-flash-$(CIRCUITPY_ESP_FLASH_SIZE)-no-ota-no-uf2-large-user_fs.defaults
 	else
 		FLASH_SIZE_SDKCONFIG ?= esp-idf-config/sdkconfig-flash-$(CIRCUITPY_ESP_FLASH_SIZE)-no-ota-no-uf2.defaults
 	endif
@@ -685,6 +737,18 @@ ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/esp-camera/libesp-camera
 #$(error $(ESP_IDF_COMPONENTS_EXPANDED))
 endif
 
+ifneq ($(CIRCUITPY_RCLCPY),0)
+	ifeq ($(IDF_TARGET),esp32)
+		BINARY_BLOBS += microros-lib/esp32/libmicroros.a
+	else ifeq ($(IDF_TARGET),esp32s2)
+		BINARY_BLOBS+= microros-lib/esp32s2/libmicroros.a
+	else ifeq ($(IDF_TARGET),esp32s3)
+		BINARY_BLOBS += microros-lib/esp32s3/libmicroros.a
+	else
+		$(error Unsupported Espressif target for Micro-ROS: $(IDF_TARGET).)
+	endif
+endif
+
 ifneq ($(VALID_BOARD),)
 # From esp-idf/components/bootloader/Kconfig.projbuild
 # BOOTLOADER_OFFSET is determined by chip type, based on the ROM bootloader, and is not changeable.

ports/espressif/boards/01space_lcd042_esp32c3/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1

ports/espressif/boards/adafruit_feather_esp32c6_4mbflash_nopsram/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c6
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/adafruit_feather_esp32s3_4mbflash_2mbpsram/mpconfigboard.mk

@@ -18,5 +18,4 @@ OPTIMIZATION_FLAGS = -Os
 #CIRCUITPY_PARALLELDISPLAYBUS = 0
 CIRCUITPY_BLEIO_NATIVE = 1
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 0
 FLASH_SIZE_SDKCONFIG = esp-idf-config/sdkconfig-flash-$(CIRCUITPY_ESP_FLASH_SIZE)-no-ota.defaults

ports/espressif/boards/adafruit_huzzah32_breakout/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/adafruit_qtpy_esp32c3/mpconfigboard.mk

@@ -7,13 +7,8 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
 
-# Not enough flash space.
-CIRCUITPY_CODEOP = 0
-
 # Not enough pins.
 CIRCUITPY_PARALLELDISPLAYBUS = 0
 CIRCUITPY_RGBMATRIX = 0

ports/espressif/boards/ai_thinker_esp32-c3s/mpconfigboard.mk

@@ -7,7 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 0
-CIRCUITPY_TILEPALETTEMAPPER = 0

ports/espressif/boards/beetle-esp32-c3/mpconfigboard.mk

@@ -8,7 +8,4 @@ CIRCUITPY_ESP_FLASH_MODE=qio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
-CIRCUITPY_TILEPALETTEMAPPER = 0

ports/espressif/boards/cezerio_dev_ESP32C6/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c6
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/deneyap_kart/mpconfigboard.mk

@@ -10,5 +10,3 @@ CIRCUITPY_ESP_FLASH_SIZE = 4MB
 CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/deneyap_kart_1a/mpconfigboard.mk

@@ -10,5 +10,3 @@ CIRCUITPY_ESP_FLASH_SIZE = 4MB
 CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/deneyap_kart_1a_v2/mpconfigboard.mk

@@ -14,8 +14,6 @@ CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = opi
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0
 CIRCUITPY_BITMAPFILTER = 0
 CIRCUITPY_CODEOP = 0

ports/espressif/boards/deneyap_kart_g/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1

ports/espressif/boards/deneyap_mini/mpconfigboard.mk

@@ -10,6 +10,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/deneyap_mini_v2/mpconfigboard.mk

@@ -13,5 +13,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_PSRAM_SIZE = 2MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/doit_esp32_devkit_v1/mpconfigboard.mk

@@ -6,6 +6,5 @@ IDF_TARGET = esp32
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
-CIRCUITPY_ESPCAMERA = 0
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
+CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/espressif_esp32_devkitc_v4_wroom_32e/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/espressif_esp32_eye/mpconfigboard.mk

@@ -13,8 +13,6 @@ CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 40m
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_CANIO = 0
 CIRCUITPY_NEOPIXEL_WRITE = 0
 CIRCUITPY_PIXELBUF = 0

ports/espressif/boards/espressif_esp32_lyrat/mpconfigboard.mk

@@ -11,6 +11,4 @@ CIRCUITPY_ESP_PSRAM_SIZE = 4MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 40m
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/espressif_esp32c3_devkitm_1_n4/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 0

ports/espressif/boards/espressif_esp32c6_devkitm_1_n4/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_AUDIOMP3 = 0

ports/espressif/boards/espressif_esp32h2_devkitm_1_n4/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32h2
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 48m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/board.c

@@ -0,0 +1,9 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "supervisor/board.h"
+
+// Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here.

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h

@@ -0,0 +1,16 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2019 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// Micropython setup
+#define MICROPY_HW_BOARD_NAME       "ESP32-S3-DevKitC-1-N8R2 (ROS version)"
+#define MICROPY_HW_MCU_NAME         "ESP32S3"
+
+#define MICROPY_HW_NEOPIXEL         (&pin_GPIO48)
+
+#define DEFAULT_UART_BUS_RX         (&pin_GPIO44)
+#define DEFAULT_UART_BUS_TX         (&pin_GPIO43)

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.mk

@@ -0,0 +1,16 @@
+USB_VID = 0x303A
+USB_PID = 0x7003
+USB_PRODUCT = "ESP32-S3-DevKitC-1-N8R2 CPY/ROS"
+USB_MANUFACTURER = "Espressif"
+
+IDF_TARGET = esp32s3
+
+CIRCUITPY_ESP_FLASH_SIZE = 8MB
+CIRCUITPY_ESP_FLASH_MODE = qio
+CIRCUITPY_ESP_FLASH_FREQ = 80m
+
+CIRCUITPY_ESP_PSRAM_SIZE = 2MB
+CIRCUITPY_ESP_PSRAM_MODE = qio
+CIRCUITPY_ESP_PSRAM_FREQ = 80m
+
+CIRCUITPY_RCLCPY = 1

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/pins.c

@@ -0,0 +1,55 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/board/__init__.h"
+
+static const mp_rom_map_elem_t board_module_globals_table[] = {
+    CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS
+
+    { MP_ROM_QSTR(MP_QSTR_IO0), MP_ROM_PTR(&pin_GPIO0) },
+    { MP_ROM_QSTR(MP_QSTR_IO1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_IO2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_IO3), MP_ROM_PTR(&pin_GPIO3) },
+    { MP_ROM_QSTR(MP_QSTR_IO4), MP_ROM_PTR(&pin_GPIO4) },
+    { MP_ROM_QSTR(MP_QSTR_IO5), MP_ROM_PTR(&pin_GPIO5) },
+    { MP_ROM_QSTR(MP_QSTR_IO6), MP_ROM_PTR(&pin_GPIO6) },
+    { MP_ROM_QSTR(MP_QSTR_IO7), MP_ROM_PTR(&pin_GPIO7) },
+    { MP_ROM_QSTR(MP_QSTR_IO8), MP_ROM_PTR(&pin_GPIO8) },
+    { MP_ROM_QSTR(MP_QSTR_IO9), MP_ROM_PTR(&pin_GPIO9) },
+    { MP_ROM_QSTR(MP_QSTR_IO10), MP_ROM_PTR(&pin_GPIO10) },
+    { MP_ROM_QSTR(MP_QSTR_IO11), MP_ROM_PTR(&pin_GPIO11) },
+    { MP_ROM_QSTR(MP_QSTR_IO12), MP_ROM_PTR(&pin_GPIO12) },
+    { MP_ROM_QSTR(MP_QSTR_IO13), MP_ROM_PTR(&pin_GPIO13) },
+    { MP_ROM_QSTR(MP_QSTR_IO14), MP_ROM_PTR(&pin_GPIO14) },
+    { MP_ROM_QSTR(MP_QSTR_IO15), MP_ROM_PTR(&pin_GPIO15) },
+    { MP_ROM_QSTR(MP_QSTR_IO16), MP_ROM_PTR(&pin_GPIO16) },
+    { MP_ROM_QSTR(MP_QSTR_IO17), MP_ROM_PTR(&pin_GPIO17) },
+    { MP_ROM_QSTR(MP_QSTR_IO18), MP_ROM_PTR(&pin_GPIO18) },
+    { MP_ROM_QSTR(MP_QSTR_IO19), MP_ROM_PTR(&pin_GPIO19) },
+    { MP_ROM_QSTR(MP_QSTR_IO20), MP_ROM_PTR(&pin_GPIO20) },
+    { MP_ROM_QSTR(MP_QSTR_IO21), MP_ROM_PTR(&pin_GPIO21) },
+    { MP_ROM_QSTR(MP_QSTR_IO35), MP_ROM_PTR(&pin_GPIO35) },
+    { MP_ROM_QSTR(MP_QSTR_IO36), MP_ROM_PTR(&pin_GPIO36) },
+    { MP_ROM_QSTR(MP_QSTR_IO37), MP_ROM_PTR(&pin_GPIO37) },
+    { MP_ROM_QSTR(MP_QSTR_IO38), MP_ROM_PTR(&pin_GPIO38) },
+    { MP_ROM_QSTR(MP_QSTR_IO39), MP_ROM_PTR(&pin_GPIO39) },
+    { MP_ROM_QSTR(MP_QSTR_IO40), MP_ROM_PTR(&pin_GPIO40) },
+    { MP_ROM_QSTR(MP_QSTR_IO41), MP_ROM_PTR(&pin_GPIO41) },
+    { MP_ROM_QSTR(MP_QSTR_IO42), MP_ROM_PTR(&pin_GPIO42) },
+    { MP_ROM_QSTR(MP_QSTR_IO43), MP_ROM_PTR(&pin_GPIO43) },
+    { MP_ROM_QSTR(MP_QSTR_IO44), MP_ROM_PTR(&pin_GPIO44) },
+    { MP_ROM_QSTR(MP_QSTR_IO45), MP_ROM_PTR(&pin_GPIO45) },
+    { MP_ROM_QSTR(MP_QSTR_IO46), MP_ROM_PTR(&pin_GPIO46) },
+    { MP_ROM_QSTR(MP_QSTR_IO47), MP_ROM_PTR(&pin_GPIO47) },
+    { MP_ROM_QSTR(MP_QSTR_IO48), MP_ROM_PTR(&pin_GPIO48) },
+    { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO48) },
+
+    { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO43) },
+    { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO44) },
+
+    { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) },
+};
+MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig

@@ -0,0 +1,14 @@
+#
+# Espressif IoT Development Framework Configuration
+#
+#
+# Component config
+#
+#
+# LWIP
+#
+# end of LWIP
+
+# end of Component config
+
+# end of Espressif IoT Development Framework Configuration

ports/espressif/boards/espressif_esp8684_devkitc_02_n4/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c2
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 60m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/heltec_esp32s3_wifi_lora_v3/board.c

@@ -34,10 +34,10 @@ uint8_t display_init_sequence[] = { // SSD1306
 digitalio_digitalinout_obj_t display_on;
 
 static void display_init(void) {
-    // Need to bring GPIO21 high or the screen doesn't get power
+    // Need to bring GPIO36 high or the screen doesn't get power
     // & the board can't see the i2c bus at all.
-    common_hal_digitalio_digitalinout_construct(&display_on, &pin_GPIO21);
+    common_hal_digitalio_digitalinout_construct(&display_on, &pin_GPIO36);
-    common_hal_digitalio_digitalinout_switch_to_output(&display_on, true, DRIVE_MODE_PUSH_PULL);
+    common_hal_digitalio_digitalinout_switch_to_output(&display_on, false, DRIVE_MODE_PUSH_PULL);
     common_hal_digitalio_digitalinout_never_reset(&display_on);
 
     busio_i2c_obj_t *i2c = common_hal_board_create_i2c(0);
@@ -48,7 +48,7 @@ static void display_init(void) {
         bus,
         i2c,
         0x3c,
-        NULL
+        &pin_GPIO21  // broken-out on V3
         );
 
     busdisplay_busdisplay_obj_t *display = &allocate_display()->display;

ports/espressif/boards/lilygo_ttgo_t-01c3/mpconfigboard.mk

@@ -8,3 +8,6 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 0
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/lilygo_ttgo_t-oi-plus/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 0

ports/espressif/boards/lilygo_ttgo_tdisplay_esp32_4m/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/lolin_c3_mini/mpconfigboard.mk

@@ -7,10 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE=qio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
-# Not enough flash
-CIRCUITPY_SOCKETPOOL_IPV6 = 0
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
-CIRCUITPY_TILEPALETTEMAPPER = 0

ports/espressif/boards/lolin_c3_pico/mpconfigboard.mk

@@ -7,12 +7,7 @@ CIRCUITPY_ESP_FLASH_MODE=qio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
 
-# Not enough flash
-CIRCUITPY_SOCKETPOOL_IPV6 = 0
-
 # Include these Python libraries in firmware.
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel

ports/espressif/boards/lolin_c3_pico/sdkconfig

@@ -7,7 +7,6 @@
 #
 # LWIP
 #
-# CONFIG_LWIP_IPV6 is not set
 # end of LWIP
 
 # end of Component config

ports/espressif/boards/luatos_core_esp32c3/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE=dio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1

ports/espressif/boards/luatos_core_esp32c3_ch343/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE=dio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 0

ports/espressif/boards/m5stack_atom_echo/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/m5stack_atom_lite/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/m5stack_atom_matrix/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/m5stack_atom_u/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESPCAMERA = 0

ports/espressif/boards/m5stack_cardputer_ros/board.c

@@ -0,0 +1,95 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "mpconfigboard.h"
+#include "supervisor/board.h"
+#include "supervisor/shared/serial.h"
+#include "shared-bindings/busio/SPI.h"
+#include "shared-bindings/fourwire/FourWire.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-module/displayio/__init__.h"
+#include "shared-module/displayio/mipi_constants.h"
+#include "shared-bindings/board/__init__.h"
+#include "py/runtime.h"
+#include "py/ringbuf.h"
+#include "shared/runtime/interrupt_char.h"
+
+
+#define DELAY 0x80
+
+uint8_t display_init_sequence[] = {
+    // SWRESET and Delay 140ms
+    0x01, 0 | DELAY, 140,
+    // SLPOUT and Delay 10ms
+    0x11, 0 | DELAY, 10,
+    // COLMOD 65k colors and 16 bit 5-6-5
+    0x3A, 1, 0x55,
+    // INVON Iiversion on
+    0x21, 0,
+    // NORON normal operation (full update)
+    0x13, 0,
+    // MADCTL columns RTL, page/column reverse order
+    0x36, 1, 0x60,
+    // RAMCTRL color word little endian
+    0xB0, 2, 0x00, 0xF8,
+    // DIPON display on
+    0x29, 0,
+};
+
+
+// Overrides the weakly linked function from supervisor/shared/board.c
+void board_init(void) {
+    busio_spi_obj_t *spi = common_hal_board_create_spi(0);
+    fourwire_fourwire_obj_t *bus = &allocate_display_bus()->fourwire_bus;
+    bus->base.type = &fourwire_fourwire_type;
+
+    // see here for inspiration: https://github.com/m5stack/M5GFX/blob/33d7d3135e816a86a008fae8ab3757938cee95d2/src/M5GFX.cpp#L1350
+    common_hal_fourwire_fourwire_construct(
+        bus,
+        spi,
+        &pin_GPIO34,    // DC
+        &pin_GPIO37,     // CS
+        &pin_GPIO33,    // RST
+        40000000,       // baudrate
+        0,              // polarity
+        0               // phase
+        );
+    busdisplay_busdisplay_obj_t *display = &allocate_display()->display;
+    display->base.type = &busdisplay_busdisplay_type;
+
+    common_hal_busdisplay_busdisplay_construct(
+        display,
+        bus,
+        240,            // width (after rotation)
+        135,            // height (after rotation)
+        40,             // column start
+        53,             // row start
+        0,              // rotation
+        16,             // color depth
+        false,          // grayscale
+        false,          // pixels in a byte share a row. Only valid for depths < 8
+        1,              // bytes per cell. Only valid for depths < 8
+        false,          // reverse_pixels_in_byte. Only valid for depths < 8
+        false,          // reverse_pixels_in_word
+        MIPI_COMMAND_SET_COLUMN_ADDRESS, // set column command
+        MIPI_COMMAND_SET_PAGE_ADDRESS,   // set row command
+        MIPI_COMMAND_WRITE_MEMORY_START, // write memory command
+        display_init_sequence,
+        sizeof(display_init_sequence),
+        &pin_GPIO38,    // backlight pin
+        NO_BRIGHTNESS_COMMAND,
+        1.0f,           // brightness
+        false,          // single_byte_bounds
+        false,          // data_as_commands
+        true,           // auto_refresh
+        60,             // native_frames_per_second
+        true,           // backlight_on_high
+        false,          // SH1107_addressing
+        350             // backlight pwm frequency
+        );
+}
+
+// TODO: Should we turn off the display when asleep, in board_deinit() ?

ports/espressif/boards/m5stack_cardputer_ros/cardputer_keyboard.c

@@ -0,0 +1,238 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2016 Scott Shawcroft
+//
+// SPDX-License-Identifier: MIT
+
+#include "py/obj.h"
+#include "py/objstr.h"
+#include "py/runtime.h"
+
+#include "supervisor/shared/serial.h"
+#include "shared-bindings/keypad/EventQueue.h"
+#include "shared-bindings/keypad_demux/DemuxKeyMatrix.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-module/keypad/EventQueue.h"
+#include "shared-module/keypad_demux/DemuxKeyMatrix.h"
+#include "supervisor/shared/reload.h"
+
+#include "keymap.h"
+
+//| """M5Stack Cardputer keyboard integration.
+//| """
+//|
+//| """The KEYBOARD object is an instance of DemuxKeyMatrix, configured with correct pins.
+//| The pins cannot be used for any other purposes (even though exposed in the board module).
+//| By default all keyboard events are consumed and routed to the standard input - there is
+//| not much use of the KEYBOARD object in this configuration - just read the input via sys.stdin.
+//|
+//| If you need to manually process individual key up / key down events via KEYBOARD.events,
+//| call `detach_serial()`.
+//| """"
+//| KEYBOARD: keypad_demux.DemuxKeymatrix
+//|
+keypad_demux_demuxkeymatrix_obj_t cardputer_keyboard_obj;
+bool cardputer_keyboard_serial_attached = false;
+
+void cardputer_keyboard_init(void);
+void keyboard_seq(const char *seq);
+void update_keyboard(keypad_eventqueue_obj_t *queue);
+
+//| def detach_serial() -> None:
+//|     """Stops consuming keyboard events and routing them to sys.stdin."""
+//|     ...
+//|
+static mp_obj_t detach_serial(void) {
+    cardputer_keyboard_serial_attached = false;
+    common_hal_keypad_eventqueue_set_event_handler(cardputer_keyboard_obj.events, NULL);
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_0(detach_serial_obj, detach_serial);
+
+//| def attach_serial() -> None:
+//|     """Starts consuming keyboard events and routing them to sys.stdin."""
+//|     ...
+//|
+static mp_obj_t attach_serial(void) {
+    common_hal_keypad_eventqueue_set_event_handler(cardputer_keyboard_obj.events, update_keyboard);
+    cardputer_keyboard_serial_attached = true;
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_0(attach_serial_obj, attach_serial);
+
+//| def key_to_char(key: int, shifted: bool) -> str | None:
+//|     """Converts a key index to the respective key (with or without shift modifier).
+//|     Returns None for functional & modifier keys or whenever not 0 <= key < 56.
+//|     """
+//|     ...
+//|
+static mp_obj_t key_to_char(mp_obj_t key_obj, mp_obj_t shifted_obj) {
+    mp_int_t key = mp_obj_get_int(key_obj);
+    if (key < 0 || key > (mp_int_t)(sizeof keymap / sizeof *keymap) || keymap[key] == 0) {
+        return mp_const_none;
+    } else if (shifted_obj == mp_const_true) {
+        return mp_obj_new_str(&keymap_shifted[key], 1);
+    } else {
+        return mp_obj_new_str(&keymap[key], 1);
+    }
+}
+static MP_DEFINE_CONST_FUN_OBJ_2(key_to_char_obj, key_to_char);
+
+// Ring buffer of characters consumed from keyboard events (when serial attached)
+ringbuf_t keyqueue;
+char keybuf[32];
+
+keypad_event_obj_t event;
+char keystate[56];
+
+// Keyboard pins
+const mcu_pin_obj_t *row_addr_pins[] = {
+    &pin_GPIO8,
+    &pin_GPIO9,
+    &pin_GPIO11,
+};
+
+const mcu_pin_obj_t *column_pins[] = {
+    &pin_GPIO13,
+    &pin_GPIO15,
+    &pin_GPIO3,
+    &pin_GPIO4,
+    &pin_GPIO5,
+    &pin_GPIO6,
+    &pin_GPIO7
+};
+
+void cardputer_keyboard_init(void) {
+    cardputer_keyboard_obj.base.type = &keypad_demux_demuxkeymatrix_type;
+    common_hal_keypad_demux_demuxkeymatrix_construct(
+        &cardputer_keyboard_obj, // self
+        3,                       // num_row_addr_pins
+        row_addr_pins,           // row_addr_pins
+        7,                       // num_column_pins
+        column_pins,             // column_pins
+        true,                    // columns_to_anodes
+        false,                   // transpose
+        0.01f,                   // interval
+        20,                      // max_events
+        2                        // debounce_threshold
+        );
+    demuxkeymatrix_never_reset(&cardputer_keyboard_obj);
+
+    ringbuf_init(&keyqueue, (uint8_t *)keybuf, sizeof(keybuf));
+    attach_serial();
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+void board_serial_init(void) {
+    cardputer_keyboard_init();
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+bool board_serial_connected(void) {
+    return cardputer_keyboard_serial_attached;
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+uint32_t board_serial_bytes_available(void) {
+    if (cardputer_keyboard_serial_attached) {
+        return ringbuf_num_filled(&keyqueue);
+    } else {
+        return 0;
+    }
+}
+
+// Overrides the weakly linked function from supervisor/shared/serial.c
+char board_serial_read(void) {
+    if (cardputer_keyboard_serial_attached) {
+        return ringbuf_get(&keyqueue);
+    } else {
+        return 0;
+    }
+}
+
+void keyboard_seq(const char *seq) {
+    while (*seq) {
+        ringbuf_put(&keyqueue, *seq++);
+    }
+}
+
+void update_keyboard(keypad_eventqueue_obj_t *queue) {
+    uint8_t ascii = 0;
+
+    if (common_hal_keypad_eventqueue_get_length(queue) == 0) {
+        return;
+    }
+
+    while (common_hal_keypad_eventqueue_get_into(queue, &event)) {
+        if (event.pressed) {
+            keystate[event.key_number] = 1;
+
+            if (keystate[KEY_CTRL]) {
+                if (keystate[KEY_ALT] && keystate[KEY_BACKSPACE]) {
+                    reload_initiate(RUN_REASON_REPL_RELOAD);
+                }
+                ascii = keymap[event.key_number];
+                if (ascii >= 'a' && ascii <= 'z') {
+                    ascii -= 'a' - 1;
+                }
+
+                if (ascii == mp_interrupt_char) {
+                    mp_sched_keyboard_interrupt();
+                }
+            } else if (keystate[KEY_SHIFT]) {
+                ascii = keymap_shifted[event.key_number];
+            } else if (keystate[KEY_FN] && event.key_number != KEY_FN) {
+                switch (event.key_number | FN_MOD)
+                {
+                    case KEY_DOWN:
+                        keyboard_seq("\e[B");
+                        break;
+                    case KEY_UP:
+                        keyboard_seq("\e[A");
+                        break;
+                    case KEY_DELETE:
+                        keyboard_seq("\e[3~");
+                        break;
+                    case KEY_LEFT:
+                        keyboard_seq("\e[D");
+                        break;
+                    case KEY_RIGHT:
+                        keyboard_seq("\e[C");
+                        break;
+                    case KEY_ESC:
+                        ringbuf_put(&keyqueue, '\e');
+                        break;
+                }
+            } else {
+                ascii = keymap[event.key_number];
+            }
+
+            if (ascii > 0) {
+                if (keystate[KEY_ALT]) {
+                    ringbuf_put(&keyqueue, '\e');
+                } else if (keystate[KEY_OPT]) {
+                    ringbuf_put(&keyqueue, '\x10');
+                }
+                ringbuf_put(&keyqueue, ascii);
+            }
+        } else {
+            keystate[event.key_number] = 0;
+        }
+    }
+}
+
+static const mp_rom_map_elem_t cardputer_keyboard_module_globals_table[] = {
+    {MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_cardputer_keyboard)},
+    {MP_ROM_QSTR(MP_QSTR_KEYBOARD), MP_ROM_PTR(&cardputer_keyboard_obj)},
+    {MP_ROM_QSTR(MP_QSTR_attach_serial), MP_ROM_PTR(&attach_serial_obj)},
+    {MP_ROM_QSTR(MP_QSTR_detach_serial), MP_ROM_PTR(&detach_serial_obj)},
+    {MP_ROM_QSTR(MP_QSTR_key_to_char), MP_ROM_PTR(&key_to_char_obj)},
+};
+MP_DEFINE_CONST_DICT(cardputer_keyboard_module_globals, cardputer_keyboard_module_globals_table);
+
+const mp_obj_module_t cardputer_keyboard_module = {
+    .base = {&mp_type_module},
+    .globals = (mp_obj_dict_t *)&cardputer_keyboard_module_globals,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_cardputer_keyboard, cardputer_keyboard_module);

ports/espressif/boards/m5stack_cardputer_ros/keymap.h

@@ -0,0 +1,214 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#define SHIFT_MOD 0x40
+#define FN_MOD 0x80
+
+#define KEY_OPT 0
+#define KEY_Z 1
+#define KEY_C 2
+#define KEY_B 3
+#define KEY_M 4
+#define KEY_DOT 5
+#define KEY_SPACE 6
+#define KEY_SHIFT 7
+#define KEY_S 8
+#define KEY_F 9
+#define KEY_H 10
+#define KEY_K 11
+#define KEY_SEMICOLON 12
+#define KEY_ENTER 13
+#define KEY_Q 14
+#define KEY_E 15
+#define KEY_T 16
+#define KEY_U 17
+#define KEY_O 18
+#define KEY_LEFT_BRACKET 19
+#define KEY_BACKSLASH 20
+#define KEY_1 21
+#define KEY_3 22
+#define KEY_5 23
+#define KEY_7 24
+#define KEY_9 25
+#define KEY_UNDERSCORE 26
+#define KEY_BACKSPACE 27
+#define KEY_CTRL 28
+#define KEY_ALT 29
+#define KEY_X 30
+#define KEY_V 31
+#define KEY_N 32
+#define KEY_COMMA 33
+#define KEY_SLASH 34
+#define KEY_FN 35
+#define KEY_A 36
+#define KEY_D 37
+#define KEY_G 38
+#define KEY_J 39
+#define KEY_L 40
+#define KEY_APOSTROPHE 41
+#define KEY_TAB 42
+#define KEY_W 43
+#define KEY_R 44
+#define KEY_Y 45
+#define KEY_I 46
+#define KEY_P 47
+#define KEY_RIGHT_BRACKET 48
+#define KEY_GRAVE 49
+#define KEY_2 50
+#define KEY_4 51
+#define KEY_6 52
+#define KEY_8 53
+#define KEY_0 54
+#define KEY_EQUALS 55
+
+#define KEY_GREATER (5 | SHIFT_MOD)
+#define KEY_COLON (12 | SHIFT_MOD)
+#define KEY_LEFT_CURLY_BRACKET (19 | SHIFT_MOD)
+#define KEY_PIPE (20 | SHIFT_MOD)
+#define KEY_EXCLAMATION (21 | SHIFT_MOD)
+#define KEY_HASH (22 | SHIFT_MOD)
+#define KEY_PERCENT (23 | SHIFT_MOD)
+#define KEY_AMPERSAND (24 | SHIFT_MOD)
+#define KEY_OPEN_PARENTHESIS (25 | SHIFT_MOD)
+#define KEY_MINUS (26 | SHIFT_MOD)
+#define KEY_LESS (33 | SHIFT_MOD)
+#define KEY_QUESTION (34 | SHIFT_MOD)
+#define KEY_DOUBLE_QUOTE (41 | SHIFT_MOD)
+#define KEY_RIGHT_CURLY_BRACKET (48 | SHIFT_MOD)
+#define KEY_TILDE (49 | SHIFT_MOD)
+#define KEY_AT (50 | SHIFT_MOD)
+#define KEY_DOLLAR (51 | SHIFT_MOD)
+#define KEY_CARET (52 | SHIFT_MOD)
+#define KEY_ASTERISK (53 | SHIFT_MOD)
+#define KEY_CLOSE_PARENTHESIS (54 | SHIFT_MOD)
+#define KEY_PLUS (55 | SHIFT_MOD)
+
+#define KEY_DOWN (5 | FN_MOD)
+#define KEY_UP (12 | FN_MOD)
+#define KEY_DELETE (27 | FN_MOD)
+#define KEY_LEFT (33 | FN_MOD)
+#define KEY_RIGHT (34 | FN_MOD)
+#define KEY_ESC (49 | FN_MOD)
+
+const char keymap[56] = {
+    0,   // KEY_OPT
+    'z', // KEY_Z
+    'c', // KEY_C
+    'b', // KEY_B
+    'm', // KEY_M
+    '.', // KEY_DOT
+    ' ', // KEY_SPACE
+    0,   // KEY_SHIFT
+    's', // KEY_S
+    'f', // KEY_F
+    'h', // KEY_H
+    'k', // KEY_K
+    ';', // KEY_SEMICOLON
+    '\r',// KEY_ENTER
+    'q', // KEY_Q
+    'e', // KEY_E
+    't', // KEY_T
+    'u', // KEY_U
+    'o', // KEY_O
+    '[', // KEY_LEFT_BRACKET
+    '\\',// KEY_BACKSLASH
+    '1', // KEY_1
+    '3', // KEY_3
+    '5', // KEY_5
+    '7', // KEY_7
+    '9', // KEY_9
+    '_', // KEY_UNDERSCORE
+    '\b',// KEY_BACKSPACE
+    0,   // KEY_CTRL
+    0,   // KEY_ALT
+    'x', // KEY_X
+    'v', // KEY_V
+    'n', // KEY_N
+    ',', // KEY_COMMA
+    '/', // KEY_SLASH
+    0,   // KEY_FN
+    'a', // KEY_A
+    'd', // KEY_D
+    'g', // KEY_G
+    'j', // KEY_J
+    'l', // KEY_L
+    '\'',// KEY_APOSTROPHE
+    '\t',// KEY_TAB
+    'w', // KEY_W
+    'r', // KEY_R
+    'y', // KEY_Y
+    'i', // KEY_I
+    'p', // KEY_P
+    ']', // KEY_RIGHT_BRACKET
+    '`', // KEY_GRAVE
+    '2', // KEY_2
+    '4', // KEY_4
+    '6', // KEY_6
+    '8', // KEY_8
+    '0', // KEY_0
+    '='  // KEY_EQUALS
+};
+
+const char keymap_shifted[56] = {
+    0,   // KEY_OPT
+    'Z', // KEY_Z
+    'C', // KEY_C
+    'B', // KEY_B
+    'M', // KEY_M
+    '>', // KEY_DOT -> '>'
+    ' ', // KEY_SPACE
+    0,   // KEY_SHIFT
+    'S', // KEY_S
+    'F', // KEY_F
+    'H', // KEY_H
+    'K', // KEY_K
+    ':', // KEY_SEMICOLON -> ':'
+    '\r',// KEY_ENTER
+    'Q', // KEY_Q
+    'E', // KEY_E
+    'T', // KEY_T
+    'U', // KEY_U
+    'O', // KEY_O
+    '{', // KEY_LEFT_BRACKET -> '{'
+    '|', // KEY_BACKSLASH -> '|'
+    '!', // KEY_1 -> '!'
+    '#', // KEY_3 -> '#'
+    '%', // KEY_5 -> '%'
+    '&', // KEY_7 -> '&'
+    '(', // KEY_9 -> '('
+    '-', // KEY_UNDERSCORE -> '-'
+    '\b',// KEY_BACKSPACE
+    0,   // KEY_CTRL
+    0,   // KEY_ALT
+    'X', // KEY_X
+    'V', // KEY_V
+    'N', // KEY_N
+    '<', // KEY_COMMA -> '<'
+    '?', // KEY_SLASH -> '?'
+    0,   // KEY_FN
+    'A', // KEY_A
+    'D', // KEY_D
+    'G', // KEY_G
+    'J', // KEY_J
+    'L', // KEY_L
+    '"', // KEY_APOSTROPHE -> '"'
+    '\t',// KEY_TAB
+    'W', // KEY_W
+    'R', // KEY_R
+    'Y', // KEY_Y
+    'I', // KEY_I
+    'P', // KEY_P
+    '}', // KEY_RIGHT_BRACKET -> '}'
+    '~', // KEY_GRAVE -> '~'
+    '@', // KEY_2 -> '@'
+    '$', // KEY_4 -> '$'
+    '^', // KEY_6 -> '^'
+    '*', // KEY_8 -> '*'
+    ')', // KEY_0 -> ')'
+    '+'  // KEY_EQUALS -> '+'
+};

ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.h

@@ -0,0 +1,19 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2019 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// Micropython setup
+
+#define MICROPY_HW_BOARD_NAME       "M5Stack Cardputer (ROS version)"
+#define MICROPY_HW_MCU_NAME         "ESP32S3"
+
+#define MICROPY_HW_NEOPIXEL (&pin_GPIO21)
+#define DEFAULT_I2C_BUS_SCL (&pin_GPIO1)
+#define DEFAULT_I2C_BUS_SDA (&pin_GPIO2)
+#define CIRCUITPY_BOARD_SPI         (2)
+#define CIRCUITPY_BOARD_SPI_PIN     {{.clock = &pin_GPIO36, .mosi = &pin_GPIO35}, \
+                                     {.clock = &pin_GPIO40, .mosi = &pin_GPIO14, .miso = &pin_GPIO39}}

ports/espressif/boards/m5stack_cardputer_ros/mpconfigboard.mk

@@ -0,0 +1,17 @@
+USB_VID = 0x303A
+USB_PID = 0x81DA
+USB_PRODUCT = "M5Stack Cardputer - Circuitpython/ROS"
+USB_MANUFACTURER = "M5STACK"
+
+IDF_TARGET = esp32s3
+
+CIRCUITPY_ESP_FLASH_MODE = qio
+CIRCUITPY_ESP_FLASH_FREQ = 80m
+CIRCUITPY_ESP_FLASH_SIZE = 8MB
+CIRCUITPY_ESPCAMERA = 0
+CIRCUITPY_RCLCPY = 1
+
+CIRCUITPY_GIFIO = 1
+CIRCUITPY_MAX3421E = 0
+
+SRC_C += boards/$(BOARD)/cardputer_keyboard.c

ports/espressif/boards/m5stack_cardputer_ros/pins.c

@@ -0,0 +1,86 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2020 Scott Shawcroft for Adafruit Industries
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/board/__init__.h"
+
+#include "shared-module/displayio/__init__.h"
+CIRCUITPY_BOARD_BUS_SINGLETON(sd_spi, spi, 1)
+static const mp_rom_map_elem_t board_module_globals_table[] = {
+    CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS
+
+    // Port A
+    { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_PORTA1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_D1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_G1), MP_ROM_PTR(&pin_GPIO1) },
+    { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_PORTA2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_D2), MP_ROM_PTR(&pin_GPIO2) },
+    { MP_ROM_QSTR(MP_QSTR_G2), MP_ROM_PTR(&pin_GPIO2) },
+
+    // Keyboard
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_0), MP_ROM_PTR(&pin_GPIO13) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_1), MP_ROM_PTR(&pin_GPIO15) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_2), MP_ROM_PTR(&pin_GPIO3) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_3), MP_ROM_PTR(&pin_GPIO4) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_4), MP_ROM_PTR(&pin_GPIO5) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_5), MP_ROM_PTR(&pin_GPIO6) },
+    { MP_ROM_QSTR(MP_QSTR_KB_COL_6), MP_ROM_PTR(&pin_GPIO7) },
+    { MP_ROM_QSTR(MP_QSTR_KB_A_0), MP_ROM_PTR(&pin_GPIO8) },
+    { MP_ROM_QSTR(MP_QSTR_KB_A_1), MP_ROM_PTR(&pin_GPIO9) },
+    { MP_ROM_QSTR(MP_QSTR_KB_A_2), MP_ROM_PTR(&pin_GPIO11) },
+
+    // Neopixel
+    { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO21) },
+
+    // Speaker
+    { MP_ROM_QSTR(MP_QSTR_I2S_BIT_CLOCK), MP_ROM_PTR(&pin_GPIO41) },
+    { MP_ROM_QSTR(MP_QSTR_I2S_DATA), MP_ROM_PTR(&pin_GPIO42) },
+    { MP_ROM_QSTR(MP_QSTR_I2S_WORD_SELECT), MP_ROM_PTR(&pin_GPIO43) },
+
+    // Mic
+    { MP_ROM_QSTR(MP_QSTR_MIC_DATA), MP_ROM_PTR(&pin_GPIO46) },
+    { MP_ROM_QSTR(MP_QSTR_MIC_CLK), MP_ROM_PTR(&pin_GPIO43) },
+
+    // IR
+    { MP_ROM_QSTR(MP_QSTR_IR_TX), MP_ROM_PTR(&pin_GPIO44) },
+
+    // SD
+    { MP_ROM_QSTR(MP_QSTR_SD_MOSI), MP_ROM_PTR(&pin_GPIO14) },
+    { MP_ROM_QSTR(MP_QSTR_SD_SCK), MP_ROM_PTR(&pin_GPIO40) },
+    { MP_ROM_QSTR(MP_QSTR_SD_MISO), MP_ROM_PTR(&pin_GPIO39) },
+    { MP_ROM_QSTR(MP_QSTR_SD_CS), MP_ROM_PTR(&pin_GPIO12) },
+
+
+    // Display
+    { MP_ROM_QSTR(MP_QSTR_TFT_RST), MP_ROM_PTR(&pin_GPIO33) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_RESET), MP_ROM_PTR(&pin_GPIO33) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_DC), MP_ROM_PTR(&pin_GPIO34) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_RS), MP_ROM_PTR(&pin_GPIO34) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_MOSI), MP_ROM_PTR(&pin_GPIO35) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_DATA), MP_ROM_PTR(&pin_GPIO35) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_SCK), MP_ROM_PTR(&pin_GPIO36) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_CS), MP_ROM_PTR(&pin_GPIO37) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_BACKLIGHT), MP_ROM_PTR(&pin_GPIO38) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_BL), MP_ROM_PTR(&pin_GPIO38) },
+
+    // Button
+    { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_GPIO0) },
+    { MP_ROM_QSTR(MP_QSTR_BOOT0), MP_ROM_PTR(&pin_GPIO0) },
+
+    // Battery
+    { MP_ROM_QSTR(MP_QSTR_BAT_ADC), MP_ROM_PTR(&pin_GPIO10) },
+
+    // Other
+    { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
+    { MP_ROM_QSTR(MP_QSTR_PORTA_I2C), MP_ROM_PTR(&board_i2c_obj) },
+    { MP_ROM_QSTR(MP_QSTR_TFT_SPI), MP_ROM_PTR(&board_spi_obj) },
+    { MP_ROM_QSTR(MP_QSTR_SD_SPI), MP_ROM_PTR(&board_sd_spi_obj) },
+
+    // Display object
+    { MP_ROM_QSTR(MP_QSTR_DISPLAY), MP_ROM_PTR(&displays[0].display)},
+};
+MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);

ports/espressif/boards/m5stack_cardputer_ros/sdkconfig

@@ -0,0 +1,14 @@
+#
+# Espressif IoT Development Framework Configuration
+#
+#
+# Component config
+#
+#
+# LWIP
+#
+# end of LWIP
+
+# end of Component config
+
+# end of Espressif IoT Development Framework Configuration

ports/espressif/boards/m5stack_stamp_c3/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE=qio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 0

ports/espressif/boards/m5stack_stick_c/mpconfigboard.mk

@@ -6,8 +6,7 @@ IDF_TARGET = esp32
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
 CIRCUITPY_ESPCAMERA = 0
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 SRC_C += pmic/axp192/axp192.c

ports/espressif/boards/m5stack_stick_c_plus/mpconfigboard.mk

@@ -6,8 +6,7 @@ IDF_TARGET = esp32
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
 CIRCUITPY_ESPCAMERA = 0
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 SRC_C += pmic/axp192/axp192.c

ports/espressif/boards/m5stack_timer_camera_x/mpconfigboard.mk

@@ -10,5 +10,3 @@ CIRCUITPY_ESP_FLASH_SIZE = 4MB
 CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = opi
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/makergo_esp32c3_supermini/mpconfigboard.mk

@@ -7,13 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE=dio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-# Not enough flash space.  (TEMP - may remove later)
-CIRCUITPY_CODEOP = 0
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
-
-# Not enough pins. (TEMP - may remove later)
-CIRCUITPY_PARALLELDISPLAYBUS = 0
-CIRCUITPY_RGBMATRIX = 0

ports/espressif/boards/makergo_esp32c6_supermini/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c6
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/microdev_micro_c3/mpconfigboard.mk

@@ -7,7 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
-CIRCUITPY_TILEPALETTEMAPPER = 0

ports/espressif/boards/nodemcu_esp32c2/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c2
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 60m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/seeed_xiao_esp32c3/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1

ports/espressif/boards/seeed_xiao_esp32c6/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c6
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/spotpear_esp32c3_lcd_1_44/mpconfigboard.mk

@@ -8,4 +8,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/sqfmi_watchy/mpconfigboard.mk

@@ -1,13 +1,10 @@
 CIRCUITPY_CREATOR_ID = 0x4496E3F4
 CIRCUITPY_CREATION_ID = 0x00320024
 
-
+IDF_TARGET = esp32
-CIRCUITPY_ESPCAMERA = 0
 
 CIRCUITPY_ESP_FLASH_MODE=dio
 CIRCUITPY_ESP_FLASH_FREQ=40m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
+CIRCUITPY_ESPCAMERA = 0
-
-IDF_TARGET = esp32

ports/espressif/boards/sunton_esp32_2424S012/mpconfigboard.mk

@@ -7,8 +7,6 @@ CIRCUITPY_ESP_FLASH_MODE=qio
 CIRCUITPY_ESP_FLASH_FREQ=80m
 CIRCUITPY_ESP_FLASH_SIZE=4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_ESP_USB_SERIAL_JTAG = 1
 
 # Not enough flash space.

ports/espressif/boards/sunton_esp32_2432S024C/mpconfigboard.mk

@@ -8,7 +8,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
 CIRCUITPY_ESPCAMERA = 0
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
-CIRCUITPY_BUILD_EXTENSIONS = bin

ports/espressif/boards/sunton_esp32_2432S028/mpconfigboard.mk

@@ -8,5 +8,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
 CIRCUITPY_ESPCAMERA = 0
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/unexpectedmaker_tinypico/mpconfigboard.mk

@@ -10,5 +10,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/unexpectedmaker_tinypico_nano/mpconfigboard.mk

@@ -10,5 +10,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_PSRAM_SIZE = 8MB
 CIRCUITPY_ESP_PSRAM_MODE = qio
 CIRCUITPY_ESP_PSRAM_FREQ = 80m
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/boards/waveshare_esp32_c6_lcd_1_47/mpconfigboard.mk

@@ -6,3 +6,6 @@ IDF_TARGET = esp32c6
 CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
+
+# Board was originally defined with a 2MB firmware, almost 2MB user filesystem. Leave it that way.
+CIRCUITPY_4MB_FLASH_LARGE_USER_FS_LAYOUT = 1

ports/espressif/boards/waveshare_esp32_s3_zero/pins.c

@@ -152,8 +152,7 @@ static const mp_rom_map_elem_t board_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_D21), MP_ROM_PTR(&pin_GPIO21) },
     { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO21) },
 
-    { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
+    // UART - using TX RX on silkscreen
-    { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) },
     { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }
 };
 MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);

ports/espressif/boards/weact_esp32c6_n4/mpconfigboard.mk

@@ -7,6 +7,4 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1
-
 CIRCUITPY_AUDIOMP3 = 0

ports/espressif/boards/wemos_lolin32_lite/mpconfigboard.mk

@@ -8,5 +8,3 @@ CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 4MB
 
 CIRCUITPY_ESPCAMERA = 0
-
-CIRCUITPY_LEGACY_4MB_FLASH_LAYOUT = 1

ports/espressif/common-hal/pulseio/PulseIn.c

@@ -80,8 +80,9 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self, const mcu
     }
     // We add one to the maxlen version to ensure that two symbols at lease are
     // captured because we may skip the first portion of a symbol.
-    self->raw_symbols_size = MIN(64, maxlen / 2 + 1) * sizeof(rmt_symbol_word_t);
+    self->raw_symbols_size = (maxlen / 2 + 1) * sizeof(rmt_symbol_word_t);
-    self->raw_symbols = (rmt_symbol_word_t *)m_malloc_without_collect(self->raw_symbols_size);
+    // RMT DMA mode cannot access PSRAM -> ensure raw_symbols is in internal ram
+    self->raw_symbols = (rmt_symbol_word_t *)port_malloc(self->raw_symbols_size, true);
     if (self->raw_symbols == NULL) {
         m_free(self->buffer);
         m_malloc_fail(self->raw_symbols_size);
@@ -109,17 +110,26 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self, const mcu
         .clk_src = RMT_CLK_SRC_DEFAULT,
         // 2 us resolution so we can capture 65ms pulses. The RMT period is only 15 bits.
         .resolution_hz = 1000000 / 2,
-        .mem_block_symbols = SOC_RMT_MEM_WORDS_PER_CHANNEL,
+        .mem_block_symbols = self->raw_symbols_size,
+        .flags.with_dma = 1
     };
-    // If we fail here, the buffers allocated above will be garbage collected.
+    // If we fail here, the self->buffer will be garbage collected.
-    CHECK_ESP_RESULT(rmt_new_rx_channel(&config, &self->channel));
+    esp_err_t result = rmt_new_rx_channel(&config, &self->channel);
+    if (result != ESP_OK) {
+        port_free(self->raw_symbols);
+        raise_esp_error(result);
+    }
 
     rmt_rx_event_callbacks_t rx_callback = {
         .on_recv_done = _done_callback
     };
     rmt_rx_register_event_callbacks(self->channel, &rx_callback, self);
     rmt_enable(self->channel);
-    rmt_receive(self->channel, self->raw_symbols, self->raw_symbols_size, &rx_config);
+    result = rmt_receive(self->channel, self->raw_symbols, self->raw_symbols_size, &rx_config);
+    if (result != ESP_OK) {
+        port_free(self->raw_symbols);
+        raise_esp_error(result);
+    }
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t *self) {

ports/espressif/common-hal/rclcpy/Node.c

@@ -0,0 +1,47 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/Node.h"
+#include "shared-bindings/rclcpy/__init__.h"
+
+#include "esp_log.h"
+
+void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self,
+    const char *node_name, const char *node_namespace) {
+
+    rclc_node_init_default(&self->rcl_node, node_name, node_namespace, &rclcpy_default_context.rcl_support);
+    if (!rcl_node_is_valid(&self->rcl_node)) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS node failed to initialize"));
+    }
+    self->deinited = false;
+}
+
+bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self) {
+    return self->deinited;
+}
+
+void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self) {
+    if (common_hal_rclcpy_node_deinited(self)) {
+        return;
+    }
+    // Clean up Micro-ROS object
+    rcl_ret_t ret = rcl_node_fini(&self->rcl_node);
+    if (ret != RCL_RET_OK) {
+        // TODO: node_fini returns a fail here, but doesn't impede microros
+        // from restarting. Debug left for future investigation.
+        ESP_LOGW("RCLCPY", "Node cleanup error: %d", ret);
+        // rclcpy_default_context.critical_fail=RCLCPY_NODE_FAIL;
+    }
+    self->deinited = true;
+}
+
+const char *common_hal_rclcpy_node_get_name(rclcpy_node_obj_t *self) {
+    return rcl_node_get_name(&self->rcl_node);
+}
+
+const char *common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self) {
+    return rcl_node_get_namespace(&self->rcl_node);
+}

ports/espressif/common-hal/rclcpy/Node.h

@@ -0,0 +1,23 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#include <rclc/executor.h>
+#include <rclc/rclc.h>
+#include <stdio.h>
+
+
+typedef struct {
+    mp_obj_base_t base;
+    bool deinited;
+    rcl_node_t rcl_node;
+} rclcpy_node_obj_t;

ports/espressif/common-hal/rclcpy/Publisher.c

@@ -0,0 +1,64 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/Publisher.h"
+
+#include "esp_log.h"
+
+void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t *node,
+    const char *topic_name) {
+
+    // Create Int32 type object
+    // TODO: support other message types through class imports
+    const rosidl_message_type_support_t *type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
+
+    // Creates a reliable Int32 publisher
+    rcl_ret_t rc = rclc_publisher_init_default(
+        &self->rcl_publisher, &node->rcl_node,
+        type_support, topic_name);
+    if (RCL_RET_OK != rc) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS topic failed to initialize"));
+    }
+
+    self->node = node;
+}
+
+bool common_hal_rclcpy_publisher_deinited(rclcpy_publisher_obj_t *self) {
+    return self->node == NULL;
+}
+
+void common_hal_rclcpy_publisher_deinit(rclcpy_publisher_obj_t *self) {
+    if (common_hal_rclcpy_publisher_deinited(self)) {
+        return;
+    }
+    // Clean up Micro-ROS object
+    rcl_ret_t ret = rcl_publisher_fini(&self->rcl_publisher, &self->node->rcl_node);
+    if (ret != RCL_RET_OK) {
+        // TODO: publisher_fini returns a fail here, but doesn't impede microros
+        // from restarting. Debug left for future investigation.
+        ESP_LOGW("RCLCPY", "Publisher cleanup error: %d", ret);
+        // rclcpy_default_context.critical_fail=RCLCPY_PUB_FAIL;
+    }
+    self->node = NULL;
+}
+
+void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t *self, int32_t data) {
+    // Int32 message object
+    std_msgs__msg__Int32 msg;
+
+    // Set message value
+    msg.data = data;
+
+    // Publish message
+    rcl_ret_t rc = rcl_publish(&self->rcl_publisher, &msg, NULL);
+    if (RCL_RET_OK != rc) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("Could not publish to ROS topic"));
+    }
+}
+
+const char *common_hal_rclcpy_publisher_get_topic_name(rclcpy_publisher_obj_t *self) {
+    return rcl_publisher_get_topic_name(&self->rcl_publisher);
+}

ports/espressif/common-hal/rclcpy/Publisher.h

@@ -0,0 +1,26 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "py/obj.h"
+
+#include "common-hal/rclcpy/Node.h"
+#include "common-hal/rclcpy/__init__.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#include <rclc/executor.h>
+#include <rclc/rclc.h>
+#include <stdio.h>
+#include <std_msgs/msg/int32.h>
+
+
+typedef struct {
+    mp_obj_base_t base;
+    rclcpy_node_obj_t *node;
+    rcl_publisher_t rcl_publisher;
+} rclcpy_publisher_obj_t;

ports/espressif/common-hal/rclcpy/__init__.c

@@ -0,0 +1,122 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#include "shared-bindings/rclcpy/__init__.h"
+
+#include "esp_log.h"
+
+#define RCLCPY_SUPPORT_FAIL 1
+#define RCLCPY_OPTIONS_FAIL 2
+
+rclcpy_context_t rclcpy_default_context = {
+    .initialized = false,
+    .critical_fail = 0,
+};
+
+static void *microros_allocate(size_t size, void *state) {
+    (void)state;
+    return m_malloc(size);
+}
+
+static void microros_deallocate(void *pointer, void *state) {
+    (void)state;
+    m_free(pointer);
+}
+
+static void *microros_reallocate(void *pointer, size_t size, void *state) {
+    (void)state;
+    return m_realloc(pointer, size);
+}
+
+static void *microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void *state) {
+    (void)state;
+    size_t total_size = number_of_elements * size_of_element;
+    void *ptr = m_malloc(total_size);
+    if (ptr != NULL) {
+        memset(ptr, 0, total_size);
+    }
+    return ptr;
+}
+
+void rclcpy_reset(void) {
+    if (rclcpy_default_context.initialized) {
+        // Clean up micro-ROS objects
+        rcl_ret_t ret = rclc_support_fini(&rclcpy_default_context.rcl_support);
+        if (ret != RCL_RET_OK) {
+            // ESP_LOGW("RCLCPY", "Support cleanup error: %d", ret);
+            rclcpy_default_context.critical_fail = RCLCPY_SUPPORT_FAIL;
+        }
+        ret = rcl_init_options_fini(&rclcpy_default_context.init_options);
+        if (ret != RCL_RET_OK) {
+            // ESP_LOGW("RCLCPY", "Init options cleanup error: %d", ret);
+            rclcpy_default_context.critical_fail = RCLCPY_OPTIONS_FAIL;
+        }
+
+        // Reset context state
+        memset(&rclcpy_default_context, 0, sizeof(rclcpy_default_context));
+        rclcpy_default_context.initialized = false;
+    }
+}
+
+void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_t domain_id) {
+    if (rclcpy_default_context.critical_fail != 0) {
+        mp_raise_RuntimeError_varg(MP_ERROR_TEXT("Critical ROS failure during soft reboot, reset required: %d"), rclcpy_default_context.critical_fail);
+    }
+
+    // Set up circuitpython-friendly allocator
+    rcl_allocator_t custom_allocator = rcutils_get_zero_initialized_allocator();
+    custom_allocator.allocate = microros_allocate;
+    custom_allocator.deallocate = microros_deallocate;
+    custom_allocator.reallocate = microros_reallocate;
+    custom_allocator.zero_allocate = microros_zero_allocate;
+    if (!rcutils_set_default_allocator(&custom_allocator)) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS memory allocator failure"));
+    }
+    rclcpy_default_context.rcl_allocator = custom_allocator;
+
+    rcl_ret_t ret;
+
+    // Micro-ROS options initialization
+    rclcpy_default_context.init_options = rcl_get_zero_initialized_init_options();
+    ret = rcl_init_options_init(&rclcpy_default_context.init_options, rclcpy_default_context.rcl_allocator);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure"));
+    }
+    if (domain_id < 0) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("Invalid ROS domain ID"));
+    }
+    ret = rcl_init_options_set_domain_id(&rclcpy_default_context.init_options, domain_id);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure"));
+    }
+
+    // Set up Micro-ROS Agent
+    rclcpy_default_context.rmw_options = rcl_init_options_get_rmw_init_options(&rclcpy_default_context.init_options);
+    ret = rmw_uros_options_set_udp_address(agent_ip, agent_port, rclcpy_default_context.rmw_options);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS internal setup failure"));
+    }
+
+    // Final support object init requires a connected agent
+    ret = rclc_support_init_with_options(&rclcpy_default_context.rcl_support,
+        0,
+        NULL,
+        &rclcpy_default_context.init_options,
+        &rclcpy_default_context.rcl_allocator);
+    if (ret != RCL_RET_OK) {
+        mp_raise_RuntimeError(MP_ERROR_TEXT("ROS failed to initialize. Is agent connected?"));
+    } else {
+        rclcpy_default_context.initialized = true;
+    }
+}
+
+rclcpy_context_t *common_hal_rclcpy_get_default_context(void) {
+    return &rclcpy_default_context;
+}
+
+bool common_hal_rclcpy_default_context_is_initialized(void) {
+    return rclcpy_default_context.initialized;
+}

ports/espressif/common-hal/rclcpy/__init__.h

@@ -0,0 +1,30 @@
+// This file is part of the CircuitPython project: https://circuitpython.org
+//
+// SPDX-FileCopyrightText: Copyright (c) 2025 Lucian Copeland
+//
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "py/obj.h"
+#include "py/runtime.h"
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <rmw_microros/rmw_microros.h>
+
+
+typedef struct {
+    bool initialized;
+    uint8_t critical_fail;
+    rcl_allocator_t rcl_allocator;
+    rclc_support_t rcl_support;
+    rcl_init_options_t init_options;
+    rmw_init_options_t *rmw_options;
+} rclcpy_context_t;
+
+extern rclcpy_context_t rclcpy_default_context;
+void rclcpy_reset(void);