ros periferie with arduino i2c

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Greetings to you all. I am looking for a person who understands ROS and knows its ways and method of implementation into already functioning systems. Description: I have Raspberry3 + which has a standard robotic ubiquity image with raspbian.

• Operating System: Raspbian GNU/Linux 10 (buster) Kernel: Linux 5.10.52-v7+ Architecture: arm

Installed ROS Melodic according to this manual: https://www.instructables.com/ROS-Mel...

without rplidar package.

Currently after "catkin build":

------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/pi/ros_catkin_ws
-----------------------------------------------------------
Build Space:        [exists] /home/pi/ros_catkin_ws/build
Devel Space:        [exists] /home/pi/ros_catkin_ws/devel
Install Space:      [unused] /home/pi/ros_catkin_ws/install
Log Space:          [exists] /home/pi/ros_catkin_ws/logs
Source Space:       [exists] /home/pi/ros_catkin_ws/src
DESTDIR:            [unused] None
-----------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------
[build] Found '250' packages in 0.0 seconds. 
klik klak klik
[build] Summary: All 218 packages succeeded!
[build]   Ignored:   None.
[build]   Warnings:  58 packages succeeded with warnings.
[build]   Abandoned: None.
[build]   Failed:    None.
[build] Runtime: 8 hours 54 minutes and 29.0 seconds total.

Rpi is using a converter level, connected to the Arduino Uno on I2c, and using USB. The current code in Arduino: https://pastebin.com/3EQKpH5q takes up almost all of Uno's memory. That's why I don't want to change it.

Effort: If I use ArduinoIDE in Rpi, I can control the whole robot with the help of a display on the serial line, where there is also a list of data from the sensor.

Instructions at: https://github.com/mike4192/spotMicro

that's what I want to work on.

Unfortunately, and here begins a two-year effort to do nothing, because the above-mentioned project does not use Arduino, and is created from the ground up to measure. Yesterday I read how ROS was created, and exactly for people like me it is created accordingly, as a framework that is implemented, and there is no need to rebuild everything again from the beginning, when someone has already created something similar.

Help needed: How do I put these things together so I don't really have to redo everything? The tutorials and tutorials are either old, the ones I find, or they use "sudo apt install ros- * or rosdistro- *" but unfortunately this doesn't work on rpi or for some reason. or Arduino is not used.

So far, the only useful piece of advice I was given was to create a node that would clean up and send data over a serial line where rpi listens.

Here are the errors of the Mikova spotmicro display:

rosrun i2cpwm_board i2cpwm_board

[INFO] [1630936943.498425395]: I2C bus opened on / dev / i2c-1
[INFO] [1630936943.519501758]: Setting PWM frequency to 50 Hz
[FATAL] [1630936944.534527339]: Failed to open I2C bus (null)
/ home / pi / ros_catkin_ws / devel / bin / rosrun: line 4: 8420 Unauthorized Memory ...