STM32 FreeRTOS MicroROS architecture

[Sorokonog]

Hello, guys!

I'm developing an app for stepper motor control, I'm using STM32 G4 with FDCAN as transport and tmc5160 as stepper motor driver. The whole system supposed to be controlled through ROS and have some service, telemetry and self diagnostics functions. Therefore I've got some topics with different publishing and subscribing frequency. Also I've got some encoder data reading through the SPI and directly from times->CNT. This reading is organized as normal functions which could be envoqed from RTOS tasks. So could you provide some ideas of how to organize tasks. Should I split each reading functions onto differnt frequent tasks as well as publishers or it would be reasonable to organize them into quite big logical blocks. Will I be able to split publishers onto different RTOS tasks, or should I keep them in main task? So any your ideas would be great, please share!