Dear all,
BuildHat is a hardware interface (from the Raspberry Pi Foundation) between Raspberry Pi and Lego Spike/Prime.
I have developed a differential drive controller package for this interface for ROS2.
It subscribes to /cmd_vel receiving TwistStamped messages and controls the motors. Additionally it also publishes odometry. The package is configurable for different physical designs. I also include a demonstration package for Brian, the robot.
It is a Python package, it does not use the ROS2 Differential Drive Controller as there is no convenient C interface for BuildHat, however it does largely adhere to its conventions.
Links:
github repo
YouTube Demo
I hope this may be of interest to some.
Thanks,
Julian.