MiniPock Firmware

This repository contains the firmware based on Zephyr OS for the MiniPock.

Requirements

pip3 install catkin_pkg lark-parser empy colcon-common-extensions

Usage

• Initialize Zephyr workspace

west init -m https://github.com/catie-aq/zephyr_minipock minipock
cd minipock
west update

• Compile the project

west build -b zest_core_stm32h753zi app/<project>

• Program the target device

west flash

Serial micro-ROS Agent

docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:humble serial --dev /dev/ttyUSB[X] -v6

Examples

• Base Application: Simple application to control the MiniPock.