: The newest iterations utilize leocore_firmware_ros2, a Micro-ROS-based firmware that runs on the STM32-based LeoCore board.
In the Leo Rover stack, "low-level" development typically refers to the and its communication with the Raspberry Pi. leo_ros_low_low
: 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 : The newest iterations utilize leocore_firmware_ros2
: This layer handles the most fundamental tasks, such as: leo_ros_low_low
: Calculating the robot's position based on wheel encoders.