I have a robot with a Raspberry Pi 4 onboard connected to a Teensy via USB serial. The RP4 sends serial commands to the teensy. The teensy is flashed with code to control motors/PID and reports robot velocity and orientation back to the PI. The PI uses this to calculate robot odometry using simple dead reckoning. With this architecture, is there any benefit in using MicroROS on the Teensy or would it be cleaner to create the ROS node on the RP4 and keep the teensy as light weight (Non-ROS) peripheral device? I understand that creating a ROS node on the teensy would make it more modular, but I want the best performance possible with the simplest architecture.
I don’t understand the question. If you’re after simplicity and max performance, there’s nothing simpler and more performant than just sending a bunch of floats over serial. There’s no place for MicroROS.
MicroROS would bring you other values.