core2_firmware

The firmware for the Husarion CORE2 board running inside Leo Rover.

The main functionalities include:

• velocity commands for the robot,
• velocity and PWM commands for individual wheels,
• position commands for the servos connected to hServo ports,
• battery voltage feedback,
• wheel states (position, velocity, PWM duty) feedback,
• odometry feedback (calculated from wheel encoders),
• IMU sensor support.

It uses rosserial client library to expose its functionalities on ROS topics, services and parameters.

The v2.0.0+ releases are targeting ROS Noetic distribution. For development targeting ROS Melodic distribution, checkout the melodic branch.

Building and flashing

This repository uses git submodules for external libraries, so make sure you clone this repository with --recurse-submodules option or, if you cloned without this option, initialize the missing submodules by typing:

git submodule update --init

To build the project you will need to install cmake and GNU Arm Embedded Toolchain. On Ubuntu/Debian, you can do:

sudo apt-get install cmake gcc-arm-none-eabi

You will also need the Husarion SDK. Download it and unpack to the /opt/hFramework directory.

To build, enter the following commands on the terminal:

mkdir build && cd build
cmake ..
make

To flash, you can either use a USB cable to connect your computer to hSerial port on CORE2 board and type:

make flash

or you can upload the core2_firmware.bin file to Leo Rover and use leo_fw package to flash it:

rosrun leo_fw flash core2_firmware.bin

Using Husarion extension for VSCode

You can also use the VSCode extension which already contains the Husarion SDK. This should work on Windows, Linux and MacOS platforms, but unfortunately breaks the VSCode IntelliSense configuration.

Make sure you have installed:

• Visual Studio Code,
• Husarion extension for VSCode

and followed the instructions on the Husarion extension page for installing the requirements.

Open the project in VSCode and click [Ctrl]+[Shift]+[B] to build it.

To flash the firmware, use a USB cable to connect your computer to hSerial port on CORE2 board.
Then, click [Ctrl]+[Shift]+[B] and select Flash project to CORE2.

ROS API

For the information about exposed ROS topics, services and parameters, visit leo_fw on ROS Wiki.