Hi there,

I am trying to get working a setup consisting of an Arduino-based mobile robot sending its sensor values to and getting the motors velocity commands from a computer where the heavy computations are performed.

My initial plan was to use ros_control as a bridge between the high level application and the embedded low-level interface with the motors (seems legit, right ?). Referring to the wiki page about the hardware interface layer, I understand that I am supposed to write this new class, which exposes the joint states and interprets the joint commands.

My major concern is whether I should/am able to directly run this interface on the Arduino board, or rather have it on the standalone computer. The second option seems much more cumbersome to me, as a I should still manually manage the communication with the robot, but I am not sure if the Arduino (Leonardo) will have the power to handle this, or even if the library is compatible with rosserial_arduino.

Thank you so much for your help