ROS 2 + FreeRTOS Control Loop Example

This project demonstrates how to integrate ROS 2 (Humble) with FreeRTOS in a simple control loop node.
The node shows how real-time tasks can run alongside ROS 2 publishers, subscribers, and hardware interfaces.

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Features

• Uses ROS 2 rclcpp for creating a control node.
• Integrates FreeRTOS tasks inside a ROS 2 node.
• Example of creating:
  • Hardware interface
  • Motor interface
  • Subscribers
  • Timer
  • Publishers

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Dependencies

• ROS 2 Humble (or later)
• FreeRTOS
• C++17 compiler
• colcon build system

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How it works

1. The node ControlLoop is created using ROS 2.
2. Inside control_loop(), a FreeRTOS task (MyTask) is started, which prints "RTOS is running" every second.
3. ROS 2 functions are called to simulate:
   • Hardware interface initialization
   • Motor interface setup
   • Creation of subscribers, publishers, and timers

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