Communication Bridge
The RPI needs communication capabilities over a serial link, connected to the MCU. The RPI communication bridge is to be wrapped in a ROS2 Node, exposing the message types to the ROS network.
The communication protocol must allow for exchange of data such that:
Test/Debug mode:
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Transmission/receive of echo, checking validity of data
Live/Operable mode:
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Acknowledgement of connection/operability to/of the MCU when starting the ROS2 node -
Target rear wheel velocities can be transmitted from the RPI -
Movement halt (Break, EM stop) can be transmitted from the RPI -
Current rear wheel velocities can be transmitted from the MCU
The communication protocol should allow for expansion to allow for exchange of data such that:
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MCU speed control can be configured dynamically from the RPI -
Current draw of the motors transmitted from the MCU