leo_firmware

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

The main functionalities include:

• steering the robot,
• setting position on the servos connected to hServo ports,
• reading battery voltage,
• reading motor positions
• estimating velocity of the robot
• IMU and GPS sensor support

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

Building

To build the project, you will need:

• Visual Studio Code,
• Husarion extension for VSCode

Open the project on VSCode and click [Ctrl]+[Shift]+[B].

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.