- ESP32 receives cmd_vel commands from ROS2
- ESP32 publish odom2D message with position, orientation, linear and angular velocities
- Sync esp32 clock and ros nodes clock with local ntp server
- Estimate wheels angular velocities
- Control wheels angular velocities with PID
- Estimate Hadabot orientation from gyroscope (MPU605)
- Estimate position (x,y) from wheels angular velocity integration (usin orientation from gyroscope)
- Estimate linear velocity based on wheels angular velocities estimation
- Estimate angular velocity based on wheels angular velocities estimation and gyroscope (combined)
ros2 topic pub --once /goal_pose geometry_msgs/PoseStamped "{header: {frame_id: 'map'}, pose: {position: {x: 0. 5, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}"