Possibility to Run linorobot2_hardware in a Raspberry Pi

[mich1342]

Hi @grassjelly,

Currently I am building an AMR based on your Linorobot2 setup including the hardware. I found it is quite hard for me to find teensy in my locations. I did some change of the linorobot2_hardware and change to Arduino IDE based and adjust my needs due to different hardware configuration. I have a NUC as the main PC running linorobot2 and a Microcontrollers running linorobot2_hardware.

I got an issue where at best the Odometry and IMU publisher could only reach at max ~7 Hz of data. I have tried publishing static value and turns out without updating the latest value from sensors I could only get ~9 Hz. What do you think about using a Raspberry Pi instead of a microcontroller to get higher data rate?

[hippo5329]

The default serial baudrate 115200 is not fast enough to run control loop in 50Hz. Please change serial baudrate to 921600 on both the microcontroller and micro-ROS agent. The tennsy, pico pi and esp32-s3 do not have such issue as they use USB CDC protocol, ttyACM0. My recent pull request has resolved this issue.