ROS2 Foxy - Arduino Best Practice?
Howdo,
TLDR: What is the best practice in ROS2 to send and received messages on an Arduino/Teensy please?
I've been building a robot and I've been using ROS1 in a very naive way to send messages from a custom controller, I'm using a Teensy on the controller to monitor the state of physical switches and joysticks and on the robot to translate between servos and sensors. I've been using ros-serial and -arduino for this. On both sides the microcontrollers are connected to a Raspberry Pi.
I've decided to switch to ROS2 as my knowledge of ROS is still basic and I figure it would give me a head start on learning the new architecture. Had a bit of a play and very impressed with the multicasting!
The one sticking point is getting communications between the Teensy board and ROS2, is there a best practice for this with Foxy please? I've been researching my options and it seems like there isn't consensus on this at the minute. Is the best bet at the minute to have a custom node on the Pi translating or is there some option I've missed?