OpenMowerROS2 firmware ​

Overview ​

Original OpenMower firmware is communicating with ROS via serial port using simple packet protocol. With ROS2 we can use more advanced communication protocols, like DDS, using micro-ROS. No need to run a dedicated node that translates serial packets to ROS messages. Micro-ROS takes care of that.

This firmware supports only the recent OpenMower mainboard v0.13.x.

Features ​

• ✅ DDS communication
• ✅ sensor_msgs/Imu message published on /imu/data_raw topic
• ✅ sensor_msgs/BatteryState message published on /power topic
  • ✅ std_msgs/Float32 message published on /power/charge_voltage topic
  • ✅ std_msgs/Bool message published on /power/charger_present topic
• ✅ OpenMower charging logic
• ✅ ping micro-ROS agent, if not responding for some time, reboot
• 🔴 safety features

Flash ​

Follow instructions in omros2-firmware repository.