Need simple clarity on Desktop/Laptop-PI4-OpenCR-Arduino usage
When creating a robot platform, is the following assumption on data flow correct, or even recommended?
Desktop computer (not on robot) does main computation and publishes ROS1 messages to Raspberry PI 4 via WIFI.....Raspberry PI 4 (on robot) is connected to and sends messages to OpenCR 1.0 (on robot for better ROS compatibility?!).....OpenCR 1.0 (on robot) is connected to and sends messages to Arduino.
I need clarity since Turtlebots tout using OpenCR(~$180), but non-Turtlebot robot examples use a combination of Raspberry PI 4(~$75) + Arduino.
It seems having PI4, OpenCR and Arduino is good if all major processing is done onboard the robot; where messages flow bidirectionally from PI4>OpenCR>Arduino and back(?!)
OpenCR seems to provide better control over sensor data. My confusion comes from using the same setup to have processing done off the robot by a desktop or laptop computer; wondering if PI4 is now redundant; but I guess it may depend if one wants, say, two PI4-based stereo cameras; where the PI4 would be serving a specific purpose.
I just want someone to say "Yes! The Desktop>PI4>OpenCR>Arduino data flow is good practice."
there is no answer to this question without knowing your robot platform & requirements. regarding "Desktop>PI4>OpenCR>Arduino": if the PI4 is powerfull enough you don't need desktop. If Arduino has the features you need you don't need OpenCR. If you need OpenCR you (most likely) don't need Arduino.