Hi, I am a student in college and me and my team need to make a robot for a school project. We are new on ROS and basicaly, we want to retrofit a mobile platform with an arm into some sort of mobile Infrared Turret to shoot on targets.

We want to put 3 control mode on it: -1 : full manual mode, witch make possible to control the robot movement and the turret manualy. -2: semi-manual: witch make possible to control the robot movement manualy and the turret will auto-search and shoot target (usign computer vision/live video feed analysis) -3 full-auto mode: witch make the robot moving and shooting completly automatic (using computer vision to navigate).

The plarform itself is a handmade turttlebot-like whit a lower platform in front. Two wheels are use for the propultion and turnign.(see the picture) we will replace the blue harm by a Two axys turret with a camera for targeting target and we will remouve the solar panel and place a second camera use for navigation also mount on a two axis base.

The problem we have is, we want to use a Raspberry pi 3 B+ with Ubuntu 18 in serial with a Arduino to control motors. I find on internet than this sort of contraption make the arduino run only one node at once and slowest in speed. But we will need to control at least 6 motors at the same time. (I.eg: turning the nav cam to the up-left, turning turret to the right and make the robot go forward. All that in the same time) I was thinking about mouving all motors moving request into a single node and make the arduino read only topic exiting this topic. But wath are our options so solve this isue and did you have suggestions to upgrade our project about this problem?

Thank's !!