rosserial-example

Arduino Example using rosserial

Installing

This example uses the rosserial package for arduino.

After installing the package using

apt-get install ros-indigo-rosserial-arduino ros-indigo-rosserial-python

you need to configure your Arduino IDE following this tutorial.

Running the example

In order to run this example you need to launch the roscore in a new terminal window:

roscore

Next, run the rosserial client application that forwards your Arduino messages to the rest of ROS. Make sure to use the correct serial port:

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

At this point, you can look at the distance measures from your Dreamster by launching a new terminal window and entering :

rostopic echo /ultrasound

Or you can move your Dreamster by publishing velocity commands, for example moving it forward with:

rostopic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0 }}' -r 1

Visualizing ultrasonic sensor

To visualize the ultrasonic sensor using RViz, first, run RViz

rosrun rviz rviz

Then run a static transform between /map and /ultrasound using:

rosrun tf static_transform_publisher 0 0 0.2 0 0 0 nav ultrasound 100

This will allow for the tf tree to be correctly populated. Then, on RViz, click on Add -> By Topic and select Range. Now you can see the ultrasonic beam on RViz.