Process Timing¶

STM32 Process Timing¶

Core M7 Runtime: 1.226+0.059+0.003+0.006+0.004+0.022+7.463 = 8.783 ms
Core M4 Runtime: 2+2 = 4 ms
Sampling frequency: 100 Hz

../../_images/stm32_timing.png

ROS2 Publish Timing¶

Topic: /wheel/odometry (Rate: 100 Hz)
Topic: /imu/data (Rate: 100 Hz)

../../_images/publish_time.png