Hardware interrupts in ROS2

asked 2022-02-01 09:04:30 -0500

s0nc gravatar image

updated 2022-02-01 12:41:00 -0500

Hello everyone,

for my project I have to handle some interrupts that occur on the GPIO pins which can be controlled by the build-in GPIO interface in


There are some manuals to read the current value of all the GPIOs (see here and here) but I wonder if there is a standard feature in ROS2 foxy to detect incoming interrupts on the GPIOs and call a handler function as it is done by the timer (see the "Minimal publisher" example here). It might be useful to say that I do not use a raspberry pi so wiringpi cannot be used,

I am appreciated for any kinds of help.


EDIT: Another option to check for the pin state is just to poll but the computer might not be fast enough for this.

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