4. TODO¶
4.1. Embedded systems¶
4.1.1. Arduino¶
4.1.1.1. Installation¶
To install the ROS-Arduino interface write the following commands in the terminal:
Arduino installation packages¶
// Installing the rosserial metapackage
sudo apt-get install ros-kinetic-rosserial
// Install the rosserial-arduino client package
sudo apt-get install ros-kinetic-rosserial-arduino
Download and install Arduino IDE. To use the serial port without root permissions:
ls -l /dev/ttyACM*
// or
ls -l /dev/ttyUSB*
//
sudo usermod -a -G dialout <username>
In Arduino IDE set the Sketchbook location to /home/robot/arduino. Arduino should create a folder called libraries inside it.
cd /home/robot/arduino/libraries
// don t forget the dot at he end of the following commands, it indicate current directory
rosrun rosserial_arduino make_libraries.py .
After these steps, you should find the ros_lib voice in the examples of Arduino IDE.
4.1.1.2. Monitoring light using Arduino and ROS¶
listing/arduino/ADC_modified.ino
4.1.2. Running ROS serial server on PC¶
Running ROS serial server on PC¶
roscore
rosrun rosserial_python serial_node.py /dev/ttyACM0
rostopic list
rostopic echo /adc/adc0
rqt_plot adc/adc0