ros2 serial microros clarification
Hi all,
Some clarification is desperately needed, after spending a good amount of time scouring through the web. Please help me (and hopefully other that ask themselves the same question) to understand what it is with ROS2 [Humble], uRos and serial communication. Please use the numbered list below for responses.
- ros serial is a ROS1 relic
- ros serial can be used with ROS2, but requires using a ROS1 bridge?
- uROS is bridging the gap between uC's and ROS2 network (uC to DDS)
- uROS is needed if you care about the bag replay not being inaccurate (from a timestamp mismatch view)
To 4. My understanding is, that uROS helps with getting uC readings in a better timely manner into the ROS environment. As without uROS, it can easily happen that a publisher/subscriber has varying cyclic times during execution. Resulting in timestamp discrepancies.
The reason why I am seeking this clarifications is quite simple. I have just started migrating from ROS1 to ROS2 and I am having a difficult time grasping the main differences. On top of that is, I have a teensy 4.1 here, that I need to act as "low-level" control node, between sensors, actuators etc and the main computer (NVIDIA Jetson Nano).
I'm having a real difficult time to get my teensy to talk to my PC (for now PC, later Jetson Nano!). I find the entire uROS development fascinating and interesting, but facing difficulties starting off in ROS2 and also with uROS at the same time. It's a bit much. Not to mention docker and or virtual environments, that I haven't had any exposure to before.... I heard of both though.
That is just a lot to take in, and I would appreciate some kind directions, how y'all made the transition from ROS1 or how you got started with ROS2 / uROS (if at all).
Thanks
