LA Robotics Club Message Board › Anyone using ROS/Arduino?

Anyone using ROS/Arduino?

Chris J.
user 11772561
Marina del Rey, CA
Post #: 8
Curious if anyone has connected ROS to Arduino? Any challenges or issues you ran into? What application were you using it for?

I've got a custom Arduino board I'm having made to control a robot I'm working on but the processing capabilities (and imaging) are really limited with the Arduino. Considering switching over to Chipkit 32-bit Arduino clone or maybe the Raspberry Pi with a custom board but it might make most sense to just connect my 2560 based Arduino board to a traditional motherboard and run Linux/ROS on it.
Alex56782
user 17722901
Los Angeles, CA
Post #: 32
here a link to the Chicago's Robot Club summer event

http://www.chibots.or...­

one of the contestants "conestoga" is using ROS , a small motherboard, and an Arduino for the RoboMegallen competition

more details about "conestoga" in link

http://www.lockeconsu...­

nice setup looks RoboMegallen ready...



Doug S
dougbot01
Los Angeles, CA
Post #: 1
I think what you're looking for is rosserial, which is made for this purpose.

http://ros.org/wiki/r...­

Another option, is that a guy I met at RSSC is using something that he wrote himself to communicate between ROS and Arduino. You can check out his blog here:

http://www.hessmer.or...­
Chris J.
user 11772561
Marina del Rey, CA
Post #: 14
After a bit of work I've managed to get it connected using Rosserial_arduino. Seems to work ok. Setting up custom message types, subscribers and publishers is a bit trickier. Anyone else spent any time with it?
Doug S
dougbot01
Los Angeles, CA
Post #: 2
I've got most of it worked out, and planning to do a blog post in the next day or two to recap. I can create and publish a custom message from the Arduino without too much headache, although it's not very complex (6 floating point values from the ADCs). I have yet to try getting a node on the PC to subsribe to this message, but I can echo them and plot in rxplot, so I consider that to be a *good sign*.

What kind of message are you trying to set up? If you want you can message me directly dwsievers (at) gmail dot com.
Doug S
dougbot01
Los Angeles, CA
Post #: 3
Hi Chris,

I finally had a chance to finish my blog post. It took much more time than I had anticipated! :) I hope you find it useful. Here's the link. If you have anything more complicated and need some help figuring it out, I'm willing to give it a shot.

http://dougsbots.blog...­

Best Regards,
Doug
Chris J.
user 11772561
Marina del Rey, CA
Post #: 16
I'm going to be Publishing analog and digital sensors, probably 8-10 total.

ROS will then Publish back to Arduino commands for 3 motors.

I've got a ROS developer involved now. I sent him your blog post since he hasn't used the Arduino much, just ROS.
John
user 4992112
Temple City, CA
Post #: 9
What's the status of the ROS/Arduino on LARobotics club? Following the ROS tutorial I was able to connect two arduino to ROS and read the arduino sensor value and toggle the led on and off.

Currently I am working on reading a few DS18B20 temperature sensor values from a networked arduino and writing the data into a postgresql table. If possible, I would like to use ROS both as robotic platform and also as a home/building automation control. My plan is to use a network of pcs running ROS using a network of arduinos to interact with the physical environment.

On my own, progress has been pretty slow. Is there an active ROS/Arduino group within the LA Robotics Club?

thanks,

John
Chris J.
user 11772561
Marina del Rey, CA
Post #: 20
Doug and I have put a good amount of time into it recently.

I've got two 2560s connected to ROS. One has a touchscreen LCD interface that uses Services with ROS, the other is turning on/off LED, reading sensors, publishing encoder (motor position) and running 3 motor drivers. It appears to be fairly stable. We'll have something to show up within a few weeks.

Are you running into a specific problem? I've found nh.loginfo to be super valuable in leu of using Serial.print.

We also found that uint16 can be kind of a dick when used in a custom ROS msg. Avoid it.

I've also found that error messages don't always match up with what actually caused it. Changing as few lines of code at once before recompiling and testing helps. Especially with limited debugging capabilities in Arduino.
John Konrad G.
JohnKonradGrant
Hermosa Beach, CA
Post #: 7
Hi John,
I definitely want to start making an Arduino project. Will you be at the open lab Sept 9? Feel free to message me anytime.
John K.G.
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