[Solved] Using additional boards

I am working on using additional boards (NUC) to replace the default one (Raspberry Pi 4).
(I have set up ROS docker for the NUC on my own, and have got additional power supply.)

I succeeded to connect Camera and Lidar with NUC, but I have no idea how to connect CORE2 for reading low-level sensors (e.g. IMU) and sending motor commands.

Currently, I have connected them through USB hSerial port on the rear panel, but no ROS topic is being received on NUC.
What additional changes do I need to make?

I figured out by myself.

I uploaded the modified version of firmware (.hex) that enables serial (USB-B) communication.