Custom-made Joint State Publisher + Hardware Interface for ROS2

Made by air!

Setup

• Jetson Nano
• Docker with ROS2 Humble
• L298N
• OE-37 Hall Effect Encoders

Pros

• Doesnt need a lower level controller (no arduinos)
• Skips serial communications (simpler! faster ig?)
• Cheapest hardware (Jetson isnt required, RPi will do!)
• Easy hardware setup

Cons

• Messy cables on the Jetson