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README.md

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+# core2_firmware_ros2
+
+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,
+- battery voltage feedback,
+- wheel states (position, velocity, PWM duty) feedback,
+- odometry feedback (calculated from wheel encoders).
+
+The project is written for [PlatformIO] and uses [Mbed OS] as the RTOS. It also uses [rcl+rclc] as a client library with [Micro XRCE-DDS] as a middleware to expose its functionalities on ROS topics, services and parameters.
+
+For the documentation of the ROS API, visit [leo_fw] on the ROS wiki.
+
+## Prerequisites
+To build the project, all you'll need is [Visual Studio Code] with the [PlatformIO IDE] extension.
+
+## Building
+Open the project in [PlatformIO IDE], then run the `PlatformIO: Build` task.
+
+## Flashing
+### Using ST-Link programmer
+Connect the ST-Link to the pins on [Husarion CORE2] debug pin header, then run the `PlatformIO: Upload` task.
+
+You can also run the GDB debugger by running the `PIO Debug` launch configuration (or just clicking `F5`).
+
+### Using RPi on Leo Rover
+Upload the `.pio/build/core2/firmware.bin` to Leo Rover, then, on the robot, run:
+```
+ros2 run leo_fw flash firmware.bin
+```
+
+## Connecting
+To expose the Micro-ROS node to the ROS2 network, you need to run the [Micro-ROS Agent] on RPi. Build the package using [colcon] and then run:
+```
+ros2 run micro_ros_agent micro_ros_agent serial -D /dev/serial0 -b 460800
+```
+
+[Mbed OS]: https://os.mbed.com/mbed-os/
+[Visual Studio Code]: https://code.visualstudio.com
+[Husarion CORE2]: https://husarion.com/manuals/core2/
+[leo_fw]: http://wiki.ros.org/leo_fw
+[PlatformIO IDE]: https://platformio.org/platformio-ide
+[PlatformIO]: https://docs.platformio.org/en/latest/what-is-platformio.html
+[rcl+rclc]: https://github.com/ros2/rclc
+[Micro XRCE-DDS]: https://micro.ros.org/docs/tutorials/advanced/microxrcedds_rmw_configuration/
+[Micro-ROS Agent]: https://github.com/micro-ROS/micro-ROS-Agent
+[colcon]: https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html