ROS2 Interface

Implemention (Core M4)

xicro_begin(&huart3);
while (1)
{
    xicro_spin_node();
    shared_ptr->cmd_vel_linear = xicro_get_linvel();
    shared_ptr->cmd_vel_angular = xicro_get_angvel();
    if (shared_ptr->nav_pub_flag)
    {
        xicro_publish_nav(shared_ptr->robot_x, shared_ptr->robot_y, 0, shared_ptr->robot_qx, shared_ptr->robot_qy, shared_ptr->robot_qz,
                shared_ptr->robot_qw, shared_ptr->robot_linvel, 0, 0, 0, 0, shared_ptr->robot_angvel);
        shared_ptr->nav_pub_flag = 0;
    }
    if (shared_ptr->imu_pub_flag)
    {
        xicro_publish_imu(shared_ptr->imu_qx, shared_ptr->imu_qy, shared_ptr->imu_qz, shared_ptr->imu_qw, shared_ptr->imu_gx, shared_ptr->imu_gy,
                shared_ptr->imu_gz, shared_ptr->imu_ax, shared_ptr->imu_ay, shared_ptr->imu_az);
        shared_ptr->imu_pub_flag = 0;
    }
}

Runtime Test

Xicro odometry runtime: 2 ms

Xicro imu runtime: 2 ms