研究筆記 - ROS+Arduino

Test Drive

RPI3+Arduino+ROS(Robot Operating System) Test Drive

既然在玩 RPI, Arduino 跟農業機器人，那怎麼可以不試玩一下跟 ROS 接。

目標很簡單，在 RPI3 用 ROS 的方式，點 Arduino 上的燈

1.PI Using ROS enabled Raspberry Pi 3 Image

http://www.german-robot.com/2016/05/26/raspberry-pi-sd-card-image/

2. setup missing packages

http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

sudo apt install ros-kinetic-rosserial ros-kinetic-rosserial-arduino

sudo apt install rosbash

sudo apt install rospack-tools

3. Generate arduino library for ROS

rosrun rosserial_arduino make_libraries.py .

4. Install Arduino IDE

apt install arduino

5. Install arduino library to IDE

mv ros_lib/ ~/sketchbook/libraries/

6. Setup blink on Arduino

http://wiki.ros.org/rosserial_arduino/Tutorials/Blink

Install Arduino UNO with blink sample code (in ros_lib)

7. Pi: ROS run

    rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600

8. Test blink per second on Arduino

rostopic pub toggle_led std_msgs/Empty -r 1