yikestone/ros_arduino_bridge
1
0
Fork 0
mirror of https://github.com/YikeStone/ros_arduino_bridge.git synced 2025-08-04 03:34:08 +05:30
Code Issues Projects Releases Wiki Activity

Fixed extraneous backslash characters in README file

Browse Source
This commit is contained in:
Patrick Goebel 2013-02-24 17:47:21 -08:00
parent e0fcbbfec8
commit 44632157f3
1 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
README.md
View File

@ -29,7 +29,7 @@ Official ROS Documentation
-------------------------- --------------------------
A standard ROS-style version of this documentation can be found on the ROS wiki at: 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 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: 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. 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 $ cd ~/ros_workspace
$ git clone https://github.com/hbrobotics/ros\_arduino\_bridge.git $ git clone https://github.com/hbrobotics/ros_arduino_bridge.git
$ cd ros\_arduino\_bridge $ cd ros_arduino_bridge
$ rosmake $ rosmake
The provided Arduino library is called ROSArduinoBridge and is 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: 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 Bring up your copy of the params file (my\_arduino\_params.yaml) in
your favorite text editor. It should start off looking like this: 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, With your Arduino connected and running the MegaRobogaiaPololu sketch,
launch the ros\_arduino\_python node with your parameters: 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: You should see something like the following output:
@ -339,7 +339,7 @@ Connecting to Arduino on port /dev/ttyUSB0 ...
Connected at 57600 Connected at 57600
Arduino is ready. Arduino is ready.
[INFO] [WallTime: 1355498525.954491] Connected to Arduino on port /dev/ttyUSB0 at 57600 baud [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] [INFO]
etc etc
</pre> </pre>
@ -352,7 +352,7 @@ Viewing Sensor Data
------------------- -------------------
To see the aggregated sensor data, echo the sensor state topic: 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: 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 For example, if you have a sensor called ir\_front\_center, you can see
its data using: 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: 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 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: 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 The wheels should turn in a direction consistent with a
counter-clockwise rotation (right wheel forward, left wheel backward). 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: 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: 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 **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. 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 **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. where pin is the pin number and value is 0 for LOW and 1 for HIGH.
**servo\_write** - set the position of a servo **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). 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 **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) where id is the index of the servo as defined in the Arduino sketch (servos.h)