yikestone/ros_arduino_bridge
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Added traceback call to arduino_driver.py to better diagnose serial port problems.

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Patrick Goebel 2013-02-24 17:47:21 -08:00
parent e0fcbbfec8
commit 3739466008
1 changed files with 16 additions and 16 deletions
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README.md
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@ -29,7 +29,7 @@ Official ROS Documentation
--------------------------
A standard ROS-style version of this documentation can be found on the ROS wiki at:
http://www.ros.org/wiki/ros\_arduino\_bridge
http://www.ros.org/wiki/ros_arduino_bridge
System Requirements
@ -78,7 +78,7 @@ Note that only root and the "dialout" group have read/write access. Therefore,
To add yourself to the dialout group, run the command:
$ sudo usermod -a -G dialout your\_user\_name
$ sudo usermod -a -G dialout your_user_name
where your\_user\_name is your Linux login name. You will likely have to log out of your X-window session then log in again, or simply reboot your machine if you want to be sure.
@ -92,8 +92,8 @@ Installation of the ros\_arduino\_bridge Stack
----------------------------------------------
$ cd ~/ros_workspace
$ git clone https://github.com/hbrobotics/ros\_arduino\_bridge.git
$ cd ros\_arduino\_bridge
$ git clone https://github.com/hbrobotics/ros_arduino_bridge.git
$ cd ros_arduino_bridge
$ rosmake
The provided Arduino library is called ROSArduinoBridge and is
@ -213,7 +213,7 @@ into that directory:
Now copy the provided config file to one you can modify:
$ cp arduino\_params.yaml my_arduino_params.yaml
$ cp arduino_params.yaml my_arduino_params.yaml
Bring up your copy of the params file (my\_arduino\_params.yaml) in
your favorite text editor. It should start off looking like this:
@ -329,7 +329,7 @@ file something different, change the name in the launch file.
With your Arduino connected and running the MegaRobogaiaPololu sketch,
launch the ros\_arduino\_python node with your parameters:
$ roslaunch ros\_arduino\_python arduino.launch
$ roslaunch ros_arduino_python arduino.launch
You should see something like the following output:
@ -339,7 +339,7 @@ Connecting to Arduino on port /dev/ttyUSB0 ...
Connected at 57600
Arduino is ready.
[INFO] [WallTime: 1355498525.954491] Connected to Arduino on port /dev/ttyUSB0 at 57600 baud
[INFO] [WallTime: 1355498525.966825] motor\_current\_right {'rate': 5, 'type': 'PololuMotorCurrent', 'pin': 1}
[INFO] [WallTime: 1355498525.966825] motor_current_right {'rate': 5, 'type': 'PololuMotorCurrent', 'pin': 1}
[INFO]
etc
</pre>
@ -352,7 +352,7 @@ Viewing Sensor Data
-------------------
To see the aggregated sensor data, echo the sensor state topic:
$ rostopic echo /arduino/sensor\_state
$ rostopic echo /arduino/sensor_state
To see the data on any particular sensor, echo its topic name:
@ -361,11 +361,11 @@ To see the data on any particular sensor, echo its topic name:
For example, if you have a sensor called ir\_front\_center, you can see
its data using:
$ rostopic echo /arduino/sensor/ir\_front\_center
$ rostopic echo /arduino/sensor/ir_front_center
You can also graph the range data using rxplot:
$ rxplot -p 60 /arduino/sensor/ir\_front\_center/range
$ rxplot -p 60 /arduino/sensor/ir_front_center/range
Sending Twist Commands and Viewing Odometry Data
@ -373,7 +373,7 @@ Sending Twist Commands and Viewing Odometry Data
Place your robot on blocks, then try publishing a Twist command:
$ rostopic pub -1 /cmd\_vel geometry\_msgs/Twist '{ angular: {z: 0.5} }'
$ rostopic pub -1 /cmd_vel geometry_msgs/Twist '{ angular: {z: 0.5} }'
The wheels should turn in a direction consistent with a
counter-clockwise rotation (right wheel forward, left wheel backward).
@ -383,7 +383,7 @@ then kill and restart the arduino.launch file.
Stop the robot with the command:
$ rostopic pub -1 /cmd\_vel geometry\_msgs/Twist '{}'
$ rostopic pub -1 /cmd_vel geometry_msgs/Twist '{}'
To view odometry data:
@ -399,25 +399,25 @@ The ros\_arduino\_python package also defines a few ROS services as follows:
**digital\_set\_direction** - set the direction of a digital pin
$ rosservice call /arduino/digital\_set\_direction pin direction
$ rosservice call /arduino/digital_set_direction pin direction
where pin is the pin number and direction is 0 for input and 1 for output.
**digital\_write** - send a LOW (0) or HIGH (1) signal to a digital pin
$ rosservice call /arduino/digital\_write pin value
$ rosservice call /arduino/digital_write pin value
where pin is the pin number and value is 0 for LOW and 1 for HIGH.
**servo\_write** - set the position of a servo
$ rosservice call /arduino/servo\_write id pos
$ rosservice call /arduino/servo_write id pos
where id is the index of the servo as defined in the Arduino sketch (servos.h) and pos is the position in degrees (0 - 180).
**servo\_read** - read the position of a servo
$ rosservice call /arduino/servo\_read id
$ rosservice call /arduino/servo_read id
where id is the index of the servo as defined in the Arduino sketch (servos.h)