Concretely, the 3-axis accelerometer data will be published on /sensors/imu ROS 2 topic as a three-position array of 32 bits floating-point data. So, by using the micro-ROS + Zephyr port, this demo case will put some of these sensors' measurements to the ROS 2 world. The vast majority of these peripherals are out-of-the-box supported by Zephyr RTOS. The used board is an ST development board with a complete set of sensors and communication peripherals: 3-axis inertial units (IMU), environmental sensors (temperature, humidity, and pressure), a time of flight laser ranging sensor, NFC, low-power radio and 802.11 devices. Micro-ROS integration with common ROS 2 tools such as RQt are shown in this demo case of use. This demo illustrates micro-ROS capabilities in combination with the STM32L4 Discovery kit IoT node node and Zephyr RTOS.
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January 2023
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