/ros-stm32-base-control

Firmware for STM32 series to communicate with ROS over rosserial protocol. The primary purpose is calculating robot's odometry to feedback to ROS topic and receiving action commands to control robot's motion.

Primary LanguageCMIT LicenseMIT

ROS Base control using STM-IDF

Overview

This firmware implements base control for STM32 to communicate with ROS over rosserial protocol using STM-IDF. All you need to build this firmware are:

  • GNU ARM Embedded Toolchain to compile code.
  • Build tool - CMake to build application.
  • STM-IDF contains API for STM32 series.

Follow this link to know more about STM-IDF.

Install

This repository contains many submodules, you need to install all of them to use probably.

git clone --recursive git@github.com:phonght32/ros-stm32-base-control.git

How to use

Build application

make build all

Flash over ST-LinkV2

make flash_stlink

Flash over USART

make flash_usart

View log output

make monitor

Problem

For any problems, you can create issues or contact our e-mail.

Contact

E-mail: thanhphongho1998@gmail.com