⚠️ Arduino_RouterBridge_ROS

🚧 WORK IN PROGRESS (WIP)

Arduino library to interface to ROS 2 through Arduino Router

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🤖 Architecture Overview

⚠️ COMPATIBILITY: At the moment the Arduino® VENTUNO Q™ is the only board supported

• MCU side (Arduino): Runs firmware built with this standalone Arduino library.
• MPU side (Linux): Runs the arduino_proxy node in arduino_router_ros to expose MCU RPC interfaces as ROS 2 topics and services.

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✅ Prerequisites

ROS 2 Jazzy must be installed and sourced on the Linux side
The library is based on Arduino_RouterBridge so an instance of arduino-router.service must be running
An arduino_proxy ROS 2 node must be running via the following command

ros2 run arduino_router_ros arduino_proxy

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Example benchmarks

modulino_joy

throttled @100Hz

arduino@ventunoq:~$ ros2 topic hz /joy/data_raw
average rate: 98.551
        min: 0.008s max: 0.012s std dev: 0.00091s window: 100
average rate: 98.647
        min: 0.008s max: 0.012s std dev: 0.00096s window: 199
average rate: 98.876
        min: 0.006s max: 0.015s std dev: 0.00104s window: 299
average rate: 98.783
        min: 0.006s max: 0.015s std dev: 0.00103s window: 398

free running

arduino@ventunoq:~$ ros2 topic hz /joy/data_raw
average rate: 188.635
min: 0.002s max: 0.008s std dev: 0.00095s window: 190
average rate: 196.125
min: 0.001s max: 0.009s std dev: 0.00099s window: 394
average rate: 194.481
min: 0.001s max: 0.009s std dev: 0.00101s window: 586
average rate: 190.689
min: 0.001s max: 0.009s std dev: 0.00100s window: 766