{"id":495,"date":"2023-03-25T19:35:52","date_gmt":"2023-03-25T19:35:52","guid":{"rendered":"https:\/\/peterklemperer.com\/blog\/?p=495"},"modified":"2023-03-25T20:01:10","modified_gmt":"2023-03-25T20:01:10","slug":"micro-ros-on-the-pololu-3pi2040-part-2","status":"publish","type":"post","link":"https:\/\/peterklemperer.com\/blog\/2023\/03\/25\/micro-ros-on-the-pololu-3pi2040-part-2\/","title":{"rendered":"Micro ROS on the Pololu 3pi+2040, Part 2"},"content":{"rendered":"\n<p>In <a href=\"https:\/\/peterklemperer.com\/blog\/2023\/03\/25\/micro-ros-on-the-pololu-3pi2040\/\" data-type=\"post\" data-id=\"493\">the previous post<\/a>, I demonstrated a very basic micro ROS implementation running on the Pololu 3pi+ 2040. This post expands upon that demonstration to include battery sensor telemetry.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Step 3: Pololu 3pi+ 2040 Sensor Telemetry to  micro ROS<\/h2>\n\n\n\n<p>In this step, I modified the micro ROS Pico demonstration code to interface with the built-in sensors in the 3pi+ 2040.<\/p>\n\n\n\n<p>So far I&#8217;ve forked the micro ROS repository, added a bit of battery-level reading code stolen from the Pololu 3pi+ 2040 repository, and then added a bit of logic to make a new publisher node for the battery power level. <a href=\"https:\/\/github.com\/ftPeter\/micro_ros_3pi-2040\">All that code is in my Github repository here.<\/a><\/p>\n\n\n\n<p>The following link is to the Pololu <a href=\"https:\/\/github.com\/pololu\/pololu-3pi-2040-robot\">example code for the Pololu 3pi+ 2040.<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><\/h2>\n","protected":false},"excerpt":{"rendered":"<p>In the previous post, I demonstrated a very basic micro ROS implementation running on the Pololu 3pi+ 2040. This post expands upon that demonstration to include battery sensor telemetry. Step 3: Pololu 3pi+ 2040 Sensor Telemetry to micro ROS In &hellip; <a href=\"https:\/\/peterklemperer.com\/blog\/2023\/03\/25\/micro-ros-on-the-pololu-3pi2040-part-2\/\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[6,80,98],"tags":[99,100,101,102,92,93],"class_list":["post-495","post","type-post","status-publish","format-standard","hentry","category-projects","category-robotics","category-ros","tag-3pi2040","tag-microros","tag-pololu","tag-raspberry-pi-2040","tag-robotics","tag-ros"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_shortlink":"https:\/\/wp.me\/p1VqWo-7Z","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/495","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/comments?post=495"}],"version-history":[{"count":0,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/495\/revisions"}],"wp:attachment":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/media?parent=495"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/categories?post=495"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/tags?post=495"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}