The time has come to promote DDD, my DIY Dev Droid, to be a ROS2 Robot. In addition to the Raspberry PI Pico managing the motors, it will now run MicroROS and publish the Joint State of the two motors. I can then use RVIS on the ROS2 side of my Raspberry PI 4 to confirm that my model of the Robot and the actual Robot are in sync.
All of the source code for this experiment is included in the GitHub Repo.
This video is based on the work I have previously done around MicroROS and in building my Video Turntable Mk2 a simple ROS2 robot. It also uses the skills in FreeRTOS I teach on my Udemy course.
