Welcome to an innovative ROS 2 project that bridges the gap between an ESP32 embedded device and a dynamic mobile robotic system! This powerful node is designed to seamlessly receive data via UDP from the ESP32 and publish it as JointState messages within the ROS 2 framework. By facilitating efficient communication, we enable the capture of crucial encoder states and other important system parameters, empowering your robotic applications with real-time data.
But that's not all! Our node is also tuned to subscribe to the cmd_vel topic, allowing it to receive and interpret velocity commands for precise motor control. This means you can send commands to the ESP32 and achieve responsive, real-time control of your robot's movements—transforming your ideas into action!
- Real-Time Data Reception: Forge a robust communication link between the ESP32 and a ROS 2 node for continuous reception of encoder state data, ensuring your robot is always informed and ready to respond.
- Efficient Publishing: Transform the incoming data into standard JointState messages—the gold standard in ROS for articulating robot states—enabling their use in a variety of control and monitoring applications.
- Dynamic Motor Control: Tap into the cmd_vel topic to receive and interpret velocity commands, relaying them to the ESP32 to facilitate smooth and effective control of your robot's motors.
- Leveraging UDP Protocol: Harness the power of UDP for data transmission, providing low-latency communication that’s perfect for real-time applications—ensuring your robot reacts instantly to its environment. """