π§ STM32H7 Omnibase ROS2 Interface
This repository contains the ROS 2 nodes and documentation for interfacing an STM32H7-based omnidirectional robot base with ROS 2 via serial communication.
π Contents
π’ Status
Control for one motor succesfully tested, must check PID gains & test 4 motors simultaneously
π Current Pinout
| PIN | FunciΓ³n |
|---|---|
| PB6 | BNO055: I2C_SCL |
| PB7 | BNO055: I2C_SDA |
| PD4 | H Bridge 1_IN1 (GPIO OUTPUT PP) |
| PD5 | H Bridge 1_IN2 (GPIO OUTPUT PP) |
| PD6 | H Bridge 1_IN3 (GPIO OUTPUT PP) |
| PD7 | H Bridge 1_IN4 (GPIO OUTPUT PP) |
| PE2 | H Bridge 2_IN1 (GPIO OUTPUT PP) |
| PE4 | H Bridge 2_IN2 (GPIO OUTPUT PP) |
| PE3 | H Bridge 2_IN3 (GPIO OUTPUT PP) |
| PE6 | H Bridge 2_IN4 (GPIO OUTPUT PP) |
| PA0 | H Bridge 1_PWM 1 (ENA TIM5 CH1) |
| PE5 | H Bridge 1_PWM 2 (ENB TIM12 CH1) |
| PB14 | H Bridge 2_PWM 1 (ENA TIM14 CH1) |
| PF9 | H Bridge 2_PWM 2 (ENB TIM15 CH1) |
| PE9 | Encoder 1 Signal A (TIM1 CH1) |
| PE11 | Encoder 1 Signal B (TIM1 CH2) |
| PA5 | Encoder 2 Signal A (TIM2 CH1) |
| PB3 | Encoder 2 Signal B (TIM2 CH2) |
| PD12 | Encoder 3 Signal A (TIM4 CH1) |
| PD13 | Encoder 3 Signal B (TIM4 CH2) |
| PC6 | Encoder 4 Signal A (TIM8 CH1) |
| PC7 | Encoder 4 Signal B (TIM8 CH2) |
π‘ Current Topic Overview
| Topic Name | Msg Type | Description |
|---|---|---|
/stm32_debug |
std_msgs/String |
Full parsed received data |
/stm32/pose |
Float32MultiArray |
Desired pose and distance from robot center, radius received by stm32 [x, y, phi, d, r] |
/stm32/imu |
Float32MultiArray |
IMU angles [roll, pitch, yaw] |
/stm32/omegas |
Float32MultiArray |
Wheel angular speeds (calculated with encoders)[Ο1, Ο2, Ο3, Ο4] |
/stm32/real_speeds |
Float32MultiArray |
[phi_dot, x_dot, y_dot] Forward kinematics calculation of inertial speeds |
/stm32/odom |
Float32MultiArray |
Odometry: [phi, x, y] <-- gotten by integrating |
/stm32/errors |
Float32MultiArray |
Pose error: [dx, dy, dphi] current pose error |
/stm32/ctrl_speeds |
Float32MultiArray |
Local velocities control output [x_dot, y_dot, phi_dot] |
/stm32/ctrl_u |
Float32MultiArray |
IK calculated necessary wheel speeds to get local ctrl velocities [u1, u2, u3, u4] |
/stm32/pwm |
Int32MultiArray |
Motor PWM duty cycles necessary to achieve ctrl ik u1-4 [d1, d2, d3, d4] |
/stm32/timing |
Int32MultiArray |
Timing [ts_now, ts_prev, ts_delta] |
/stm32/encoders |
Int32MultiArray |
Encoder CNT register (current counter value)[TIM1, TIM2, TIM4, TIM8] |
/stm32/pid_gains/x |
Float32MultiArray |
X position PID gains |
/stm32/pid_gains/y |
Float32MultiArray |
Y position PID gains |
/stm32/pid_gains/phi |
Float32MultiArray |
Heading PID gains |
/stm32/pid_gains/u0 |
Float32MultiArray |
Motor 1 PID gains |
/stm32/pid_gains/u1 |
Float32MultiArray |
Motor 2 PID gains |
/stm32/pid_gains/u2 |
Float32MultiArray |
Motor 3 PID gains |
/stm32/pid_gains/u3 |
Float32MultiArray |
Motor 4 PID gains |
π ROS2 Development home electronics branch
π GitHub Repo for ROS2 development so far
π STM32 Project Repository
π GitHub Repo for STM32ubeIDE Project STM32H7_OMNIBASE_FREERTOS
π Appendix
- Requirements document: Link
π Revision History
| Version | Date | Changes Made |
|---|---|---|
| 1.0 | 2025-05-24 | Initial release |