UART control on ROS2

[kimseong-yeon]

Hi, is there any tip or solution for using UART connection for crazyswarm2?

Eventually I want to apply crazyflie with Jetson Orin NX board with customed ROS2 package

[whoenig]

USB should work in principle, since crazyflie_cpp also does have a USB backend. It should be possible to add a UART backend as well - as far as I remember the firmware just needs to be custom-compiled for this use-case. Obviously some features related to broadcasts don't work when having a wired connection, but getting data to and from the controller shouldn't be an issue.

[kimseong-yeon]

really thanks for your reply,
another question,broadcast is not available but data communcation on jetson is the solution.
that i am right?

[whoenig]

You can communicate in a similar fashion as you would with a PX4 flight controller. So you can receive data on the jetson (like the current state estimate) and send data (like the desired setpoints).