jkaflik/omros2-firmware

A firmware for OpenMower mainboard that acts as a node using Micro-ROS

omros2-firmware's Issues

Publish IMU data

Refactor code structure

All logic lives in a single source file. It should be reorganised per responsibility and eventually run on both cores:

• handling IO
  • IMU driver
• handling Micro ROS communication

for a memory allocation savings, all should operate on ROS msgs structs

Get debugger work

Establishing an openocd session and connecting via GDB seems to be broken:

Info : accepting 'gdb' connection on tcp/3333
Info : New GDB Connection: 1, Target rp2040.core0, state: halted
Info : dropped 'gdb' connection

Safety features

Implement a safety trigger features like hall sensors for YD500

ROS node does not attempt to reconnect

Let's follow an example from https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/examples/micro-ros_reconnection_example/micro-ros_reconnection_example.ino

An easy way would be to restart MCU programatically