Migrating from ROSSERIAL to MICROROS

[aPR0T0]

ROS1 noetic has an edge-compatible platform rosserial which utilizes its xml-rpc protocol for esp32 and wifi for communication with the roscore. ROS2 on the other hand utilizes DDS as its base protocol, so for this mircoros is a replacement for rosserial.

To be able to successfully migrate firmware of rosserial_rviz and rosserial_gazebo one needs to go through the following:

1. https://micro.ros.org/docs/tutorials/core/first_application_rtos/freertos/
2. Tutorial on how to write nodes and subscribers for esp32 microros
3. Learn commands for flashing the firmware

Re-write details:

1. Subscribe to the common topic of joint angles from the inverse kinematics script
2. Utilize these values and just call servo functions from sra board components