turtlebot2-tutorials

ROS Arduino

Prequisites

This section requires the catkin_ws to be initialized and the turtlebot_dabit package created.
Please click here to learn how to initialize the catkin workspace

This section requires the rosserial_arduino package to be setup.
Please click here to learn how to set up rosserial_arduino

Receiving data from the Arduino

As an example to receive data from the Arduino, we will have the Arduino print the milliseconds since it has started.
More information can be pulled up, here

1. Upload the following code to your Arduino:

/*
 * rosserial Publisher Example
 * Publishes the Arduino millis to the topic /arduino/millis
 */

/* Include the ROS library */
#include <ros.h>

/* Include the ROS message for an unsigned 32-bit integer
   Arduino's millis() command returns a `long`,
   which is an unsigned 32-bit integer */
#include <std_msgs/UInt32.h>

ros::NodeHandle  nh;

std_msgs::UInt32 millis_msg;
ros::Publisher pub_millis("/arduino/millis", &millis_msg);


void setup()
{
  // Initialize ROS Node
  nh.initNode();
  // Advertise the publisher topic
  nh.advertise(pub_millis);
}

void loop()
{
  // Set the millis_msg data to the millis() output
  millis_msg.data = millis();
  // Tell ROS to publish the data
  pub_millis.publish( &millis_msg );
  // Send the ROS message to the ROS Master
  nh.spinOnce();
  
  delay(5);
}

Connecting to the Arduino

1. Launch the arduino.launch
   • source ~/catkin_ws/devel/setup.sh
   • roslaunch turtlebot_dabit arduino.launch

Communicating with the Arduino

1. Type
   • rostopic list
2. With the above example,and ROSSERIAL running, we can see in rostopic our Arduino topic:
   • /arduino/millis
3. You can see the topic information using the rostopic command:
   • rostopic info /arduino/millis
4. You can see the data from the topic using the following command:
   • rostopic echo /arduino/millis

Additional Tutorials

ROSSERIAL has recently improved their tutorials, and have a very wide selection of examples. Check out the ROSSerial_Arduino Tutorials

Troubleshooting

Return to the main README page