Arduino rosserial

The rosserial package details are here.

The rosserial package has memory issues on Arduino Unos. An alternate bridge is here.

Installation

Arduino IDE

Install Arduino on Linux by downloading it from the Arduino website. Do not install it with apt-get (the version installed is not current).

In the Arduino IDE menu choose Sketch→Include Library→Manage Libraries, search for rosserial and install the library.

If you get a /dev/ttyACM0 permission error on Linux when uploading a sketch, you can resolve it by adding yourself to the dialout group. You will have to logout and then log back in before the group change is recognized. You can add yourself with:

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sudo usermod -a -G dialout $USER

Raspberry Pi

Install the binaries with:

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sudo apt-get install ros-kinetic-rosserial-arduino
sudo apt-get install ros-kinetic-rosserial

Demos

Hello World

In the Arduino IDE menu, load the Hello World sketch from File→Examples→Rosserial Arduino Library.

Make sure roscore is running and ROS_MASTER_URI is set properly.

Run the client application with:

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rosrun rosserial_python serial_node.py /dev/ttyACM0
Note: You may have to adjust the /dev/ttyACM0 argument to your port value.

Verify the values with:

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rostopic echo chatter
If you aren't seeing any values, try this command to read the serial port:
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screen /dev/ttyACMO 115200
This will only work if you have already executed the usermod command above Note: Your port /dev/ttyACM0 or your baud rate 115200 may be different