ros publisher node of wheels speed and imu
STM32 NUCLEO-64 F410RE
IMU IKS01A2 / IKS02A1
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)
In the third rostopic echo chatter