Hi I have been on a 2 week steep slippery slope crash course on Ros2 Humble. I've been following John Newans on YouTube but he uses Foxy and I have started with Humble which seems to have some subtle differences 😞

My sticking point is ros2 control hardware interfaces. I'm trying to connect to the Hoverboard Firmware mod by Alex Makarov.

The Humble hardware interface seems to have a read() and write() methods which doesn't quite work with the hoverboard firmware that send odometer data at a fixed rate and waits for commands.

I think what I need is a middle task to sit listening to the hoverboard, then when a hardware interface read() occurs it retuns the data since the last read and when a write() occurs it saves the data in a temporary buffer to be sent to the hoverboard at the next opportunity.

My problem is I don't know where to put that middle code??? It must go int the hardware interface somewhere and presumably must call back back to ros????? I'm more of a C coder than C++ which doesnt help 😀

If someone could help I'd be most grateful, thank-you.

My robot hardware is sat waiting for some control 😞

Andrew