Hi,
Any chance you have any sample/tutorial for GPIO configuration and use in ROSbot XL?
I am under the impression that the firmware has to be modified to expose GPIOs and other pins.
Hi @Dhon_G,
This type of issue is very uncommon, and we don’t currently have any recorded cases of it.
That said, we’re in the final stage of a firmware refactoring, which will be officially released soon. In the meantime, you can test the latest version on ROSbot by downloading the Snap package from the jazzy/edge channel: Install rosbot on Linux | Snap Store.
For your purpose, you can also make custom modifications directly in the firmware repository: GitHub - husarion/rosbot-firmware: Unified micro-ros based firmware for ROSbot 3 and ROSbot XL for STM32F4 microcontroller. · GitHub. The project structure is relatively straightforward, so implementing GPIO-related changes should be manageable.
The rosbot-firmware repository includes tasks for building the firmware. Once built, it can be flashed using the rosbot_ros repository and the following command:
ros2 run rosbot_utils flash_firmware --robot-model <rosbot/rosbot_xl>
-f <firmware>
If you encounter any difficulties, I will try to advise you.