How can I use this code in ROS2?

[siddharthumakarthikeyan]

Thanks for sharing your knowledge. I'm really excited to know how to control these RMCS drivers using ROS2. Thanks.

[jerinpeter]

As of now, you can either try to interface it with ROS2Arduino library and make it communicate with ROS2 or else you can use micro-ros. Also it is also possible to write a python script to read in the UART values from the motor driver and write your own node to interface the motors with ROS 2.