Slide 3
Slide 3 text
3/4
© 2021 MAEHARA Keisuke
System Configuration
kernel layer libgpiod
ROS2 layer
Single Threaded Executor
CtrlLaw IoHandler
Component1
Component2
plant
input
plant
output
note : two nodes in single process,
but not using Zero Copy note : `plant input` is
electrically connected
to `plant output`
source :
https://www.st.com/ja/evaluation
-tools/nucleo-f446re.html