search

PittSailbot / Sailbot

University of Pittsburgh's Sailbot Club (2019-2025)! Competing at the annual International Robotic Sailing Regatta. https://www.sailbot.org/
https://pittsailbot.github.io
Other
4 stars 1 forks source link

Support MicroROS #63

Closed aaron4522 closed 1 month ago

aaron4522 commented 2 months ago

We're currently using protobuf to serialize sensor data from the teensy to the pi. This works fine, but it creates coupling and makes it harder to adapt our code (Teensy -> proto -> transceiver -> ROS pub).

Haven't looked too much into it, but MicroROS should let us eliminate the need for protobuf, and for transceiver being a 'middleman' between the teensy and pi (Teensy -> ROS pub). Pros are we can test sensors without needing the transceiver to run. Also makes it easier to swap out sensors.

https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/ https://manzurmurshid.medium.com/how-to-connect-teensy-3-2-with-micro-ros-and-ros2-foxy-6c8f99c9b66a

aaron4522 commented 1 month ago

Plan is to switch to using the Pi5 only, so likely no longer necessary.