Arduino Environment Setup

Arduino IDE Setup

Install

• For Arduino IDE 2: https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-downloading-and-installing
• In Ubuntu 22 install the FUSE2 library as it is missing:

sudo apt install libfuse2

Configuring for the Arduino Due

• Make sure the Arduino is plugged into its programming port and select Due Programming Port under Tools > Port
• If the Arduino SAM board Cores is not installed, click yes on the prompt to install it so you can program the Due

Testing the Install

• In the IDE, go to File > Examples > Basic > Blink
• Press the Arrow button in the upper left hand corner to upload to the Arduino
• Make sure the onboard LED on the arduino is blinking
• If you run into an error that says there is an error opening a serial port, follow the instructions found at this page: https://www.arduino.cc/en/guide/linux. Or run this command:

sudo usermod -a -G dialout iris

YOU MUST RESTART THE VM INSTEAD OF LOGGING IN AND OUT FOR THE CHANGES TO TAKE PLACE

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Sabertooth Library setup

In order to control the motors on our robot, the arduino needs to interact with the sabertooth motor controller using a special library.

Install

• Download the zip file for "Arduino Libraries for SyRen/Sabertooth Serial" from: https://www.dimensionengineering.com/info/arduino
• Extract the zip file and then copy the subfolders into your arduino IDE's libraries folder
  • For windows the folder is usually in Documents/Arduino/libraries
  • For linux the folder is usually in ~/Arduino/libraries

Testing the install

• Open the Arduino IDE and try uploading one of the example Sabertooth sketches
• More documentation can be found from the dimension engineering website link above and from links in the example code

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micro-ROS Setup

Install

• Follow this link to download micro-ROS and create a publisher subscriber: https://micro.ros.org/docs/tutorials/core/first_application_linux/

Patching the Arduino to use pre-processed libraries

• Follow this link to patch the Arduino to support micro-ROS library: https://github.com/micro-ROS/micro_ros_arduino/tree/foxy
• To find the folder with platform.txt for SAM boards, go to ~/.arduino15/packages/hardware/sam/1.6.12
• Follow the instructions at the end of this page to make the Arduino publish to a topic and read the messages on your computer: https://micro.ros.org/docs/tutorials/core/teensy_with_arduino/

Testing the Install

• Upload the micro-ros_publisher example file to the arduino
• Terminal #1(Run the micro-ros agent to translate arduino serial to ros msgs): ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
• Terminal #2(View the arduino's published messages): ros2 topic echo micro_ros_arduino_node_publisher
• Make sure you see increasing numbers printing out when listening to the topic

Python CRC package