After all these weeks working on this and that it was already time for a demo video that could help visualize what is this project aiming for and how easy is to attach sensors and actuators to ROS using the BeagleBone. The example shows how two ROS nodes interact through the /imu_euler Topic. Moving the x axis of the IMU changes the width of the PWM signal.
The source of the two ROS packages used (there’s also recipes for cross-compiling this packages here):
*This package uses the adafruit-beaglebone-io-python library.