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How to use interrupts function with micro ros

asked 2021-08-08 15:09:17 -0500

Sarwan
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Hello, Trying to build a robot on ROS2 foxy with the hardware Jetson xavier agx , openCR and dynamixel servos. Using micro ros I am publishing the odometry information. Additionally, I need to use the arduino interrupt function to read the PPM Signal for the remote controller. Having some trouble implementing it as I am new to programming and it messes with publishing odometry.

Kindly inform me, is there an alternate method to do this without using interrupts, so that I could publish odometry without any problems? or should I use a separate Arduino board to read the PPM signals?

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answered 2021-08-09 00:50:50 -0500

Pablogs
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Try to not call a function that takes some time to execute inside an interrupt. Does it works well if you retrieve the data in the interrupt and send it using micro-ROS in the main loop?

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Asked: 2021-08-08 15:09:17 -0500

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Last updated: Aug 09 '21

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How to use interrupts function with micro ros