ros publisher node of wheels speed and imu
STM32 NUCLEO-64 F410RE
IMU IKS01A2
In order to test the code connect the PINS PB13, PB14, PB1 and PB2 as it is shown in the figure, or directly to some encoders.
Then open 3 terminals
In the first use the command roscore
In the second the command rosrun rosserial_python serial_node.py /dev/ttyACM0 (If ACM0 doesn't works means that the nucleo is connected to another port)