In this video, I combine the Raspberry PI Pico’s MicroROS Library, which is bare metal, and FreeRTOS Kernel to create a multitasking Pico Firmware. I publish the Joint State message, controlling a simple Robot visualisation from the Pico.
The code for the firmware and the ROS2 package for the simple Robot are on GitHub.
The demo robot is a Video Turntable with a single joint. I actually built this back in a previous video.
I talk a lot about FreeRTOS Kernel capabilities in this video. If you want to go further with FreeRTOS then I do have a course on FreeRTOS Kernel for the Raspberry PI Pico over on Udemy.
