KPI ROS2 Rover ECU Software

Welcome to the GitHub repository for the chassis controller software for the four-wheel rover as part of the KPI Rover robot project.

Main Features:

1. Microcontroller (MCU): STM32 The project utilizes an STM32 microcontroller to provide controller functionality.
2. Motor Control: The controller manages 4 DC motors in the four-wheel rover using L298N drivers.
3. Encoder Integration: For precise motion tracking, the controller reads signals from 4 encoders, measuring the rover’s speed and distance traveled.
4. Battery Monitoring: The controller reads and monitors the battery voltage level, allowing for timely responses to voltage changes or low battery warnings.
5. ROS2 Communication: To integrate the rover into the ROS2 system, the controller implements a communication protocol via a serial interface.