Leo_ros_low_low ❲2025❳

The "low-level" packages serve as the foundation for higher-level functionality found in other repositories: ROS Development Guide for Leo Rover

: This layer handles the most fundamental tasks, such as:

In the Leo Rover stack, "low-level" development typically refers to the and its communication with the Raspberry Pi.

: The leo_fw package provides utilities to flash new firmware binaries to the robot, ensuring the hardware remains compatible with the latest ROS 2 updates. How it Fits Together

: Processing raw inertial data for stable navigation.

: Converting velocity commands into actual wheel rotation.

: Calculating the robot's position based on wheel encoders.

: The newest iterations utilize leocore_firmware_ros2, a Micro-ROS-based firmware that runs on the STM32-based LeoCore board.