It’s great to have some news about that project!
I am following your work since the beginning because I am very interested in using ROS2 on microcontrollers.
I remember that you used to use the 802.15.4 wireless connectivity of the Atmel SAMR21 to communicate between 2 microcontrollers. Do you have a wired communication now or a least one with a computer? I have quickly looked at the repo and did not find the answer.
Because, as a Eurobot competitor, I am not used of the wireless communication between the components inside a robot.