ros2 node for raspberry pico microcontroller

Installation

• follow the example: https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/iron

Features:

• 2 Ticks counters for 2 wheels' encoders with external interrupts.
• Subscribes to the cmd_vel topic and controlles the Wheels velocity to the set point using PID controller.
• Subscribes to the init_position topic and resets the Wheel Odometry to this position.
• Calculates the Wheel Odomentry and Publishes the message to the Odom topic.
• Comunicates with the IMU GY521 sensor and publishes the IMU message.