1.安装ROS_Serial

1.1 安装环境参数

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

1.2 下载程序节点数据

cd ~/joey_ws/src
git clone https://github.com/ros-drivers/rosserial.git
cd ~/joey_ws
catkin_make
catkin_make install
source ~/joey_ws/install/setup.bash

2.Ubuntu安装Aruino程序

2.1 下载Arduino程序

https://www.arduino.cc/en/Main/Software

2.2 解压安装包

安装包解压至/Desktop目录下

mv arduino***.tar.xz ~/Desktop/
xz -d arduino***.tar.xz
tar -xf arduino***.tar

3.安装ros-Arduino库文件

3.1 运行一次arduino

cd ~/arduino-1.6.7/
./arduino

3.2 安装库文件

cd ~/Arduino/libraries/
rosrun rosserial_arduino make_libraries.py ./ 尤其记得后面的点不要漏了

4.运行helloworld程序

4.1 运行arduino程序

cd ~/arduino-1.6.7/
./arduino

4.2 arduino程序烧录

Tools 选择 Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口 /dev/ACM0
分配端口权限 sudo chmod 777 /dev/ttyACM0
选择示例程序烧录

4.3 ROS端测试

开启ROS服务器：

roscore

定位当前工作区：

source ~/joey_ws/install/setup.bash

运行arduino串口程序节点：

rosrun rosserial_python serial_node.py /dev/ttyACM0

监控当前主题信号：

rostopic echo chatter

5.运行Blink程序

5.1 运行arduino程序

cd ~/arduino-1.6.7/
./arduino

5.2 arduino程序烧录

Tools 选择 Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口 /dev/ACM0
分配端口权限 sudo chmod 777 /dev/ttyACM0
选择示例程序烧录

5.3 ROS端测试

开启ROS服务器：

roscore

定位当前工作区：

source ~/joey_ws/install/setup.bash

运行arduino串口程序节点：

rosrun rosserial_python serial_node.py /dev/ttyACM0

查询话题类型：

rostopic info /toggle_led
结果显示 type：std_msgs/Empty

给toggle_led话题发送消息：

rostopic pub -r 1 /toggle_led std_msgs/Empty

其中rostopic的表达式：

rostopic pub -r rate-in-hz topic-name message-type message-content
其中-r rate-in-hz 可以用 -1代替表示发送一次

6.运行时间同步与TF变换程序

6.1 运行arduino程序

cd ~/arduino-1.6.7/
./arduino

6.2 arduino程序烧录

Tools 选择
Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口
/dev/ACM0
分配端口权限
sudo chmod 777 /dev/ttyACM0
选择示例程序烧录

6.3 ROS端测试

开启ROS服务器：

roscore

定位当前工作区：

source ~/joey_ws/install/setup.bash

运行arduino串口程序节点：

rosrun rosserial_python serial_node.py /dev/ttyACM0

7.运行按钮button程序

7.1 运行arduino程序

cd ~/arduino-1.6.7/
./arduino

7.2 arduino程序烧录

Tools 选择 Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口 /dev/ACM0
分配端口权限 sudo chmod 777 /dev/ttyACM0
选择示例程序烧录

7.3 ROS端测试

开启ROS服务器：

roscore

定位当前工作区：

source ~/joey_ws/install/setup.bash

运行arduino串口程序节点：

rosrun rosserial_python serial_node.py /dev/ttyACM0

查看主题信息：

rostopic echo pushed

8. 使用ROS-CMake烧录helloworld代码

8.1 新建helloworld工程程序

cd ~/joey_ws/src
catkin_create_pkg helloworld rosserial_arduino rosserial_client std_msgs
cd ~/joey_ws/src/helloworld/
mkdir firmware
vim fireware/chatter.cpp

#include 
#include 

#include 

ros::NodeHandle nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

void setup()
{
nh.initNode();
nh.advertise(chatter);
}

void loop()
{
str_msg.data = hello;
chatter.publish( &str_msg );
nh.spinOnce();
delay(1000);
}

8.2 更新总CMakelists

vim ~/joey_ws/src/helloworld/CMakelists.txt

cmake_minimum_required(VERSION 2.8.3)
project(helloworld)

find_package(catkin REQUIRED COMPONENTS
  rosserial_arduino
  rosserial_client
)

catkin_package()

rosserial_generate_ros_lib(
  PACKAGE rosserial_arduino
  SCRIPT make_libraries.py
)

rosserial_configure_client(
  DIRECTORY firmware
  TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN}
)

rosserial_add_client_target(firmware hello ALL)
rosserial_add_client_target(firmware hello-upload)

vim ~/joey_ws/src/helloworld/firmware/CMakelists.txt

cmake_minimum_required(VERSION 2.8.3)

include_directories(${ROS_LIB_DIR})

# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)

generate_arduino_firmware(hello
  SRCS chatter.cpp ${ROS_LIB_DIR}/time.cpp
  BOARD mega2560
  PORT /dev/ttyACM0
)

8.3 烧录程序至arduino mega2560

编译：

cd ~/joey_ws/
catkin_make helloworld_firmware_hello

下载：

catkin_make helloworld_firmware_hello-upload

8.4 验证arduino节点通信

开启ROS服务器：

roscore

定位当前工作区：

source ~/joey_ws/install/setup.bash

运行arduino串口程序节点：

rosrun rosserial_python serial_node.py /dev/ttyACM0

监控当前主题信号：

rostopic echo chatter

9 使用ROS-make烧录ADC-arduino检测程序

9.1 新建adc_arduino工程程序

cd ~/joey_ws/src
catkin_create_pkg adc_arduino rosserial_arduino rosserial_client rosserial_server
cd ~/joey_ws/src/adc_arduino/
mkdir firmware && cd firmware
vim adc_arduino.cpp

#if (ARDUINO >= 100)
 #include 
#else
 #include 
#endif
#include 
#include 
#include 

ros::NodeHandle nh;
rosserial_arduino::Adc adc_msg;
ros::Publisher p("adc", &adc_msg);

void setup()
{ 
  pinMode(13, OUTPUT);
  nh.initNode();

  nh.advertise(p);
}
//We average the analog reading to elminate some of the noise
int averageAnalog(int pin){
  int v=0;
  for(int i=0; i<4; i++) v+= analogRead(pin);
  return v/4;
}
long adc_timer;
void loop()
{
  adc_msg.adc0 = averageAnalog(0);
  adc_msg.adc1 = averageAnalog(1);
  adc_msg.adc2 = averageAnalog(2);
  adc_msg.adc3 = averageAnalog(3);
  adc_msg.adc4 = averageAnalog(4);      
  p.publish(&adc_msg);
  delay(100);
  nh.spinOnce();
}

8.2 更新总CMakelists

vim ~/joey_ws/src/adc_arduino/CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(adc_arduino)

find_package(catkin REQUIRED COMPONENTS
  rosserial_arduino
  rosserial_client
  rosserial_server
)

catkin_package()

rosserial_generate_ros_lib(
  PACKAGE rosserial_arduino
  SCRIPT make_libraries.py
)

rosserial_configure_client(
  DIRECTORY firmware
  TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN}
)

rosserial_add_client_target(firmware adc_arduino ALL)
rosserial_add_client_target(firmware adc_arduino-upload)

vim ~/joey_ws/src/adc_arduino/firmware/CMakelists.txt

cmake_minimum_required(VERSION 2.8.3)

include_directories(${ROS_LIB_DIR})

# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)

generate_arduino_firmware(adc_arduino
  SRCS adc_arduino.cpp ${ROS_LIB_DIR}/time.cpp
  BOARD mega2560
  PORT /dev/ttyACM0
)

9.3 烧录程序至arduino mega2560

编译：

cd ~/joey_ws/
catkin_make adc_arduino_firmware_adc_arduino

下载：

catkin_make adc_arduino_firmware_adc_arduino-upload

9.4 验证arduino节点通信

开启ROS服务器：

roscore

定位当前工作区：

source ~/joey_ws/install/setup.bash

运行arduino串口程序节点：

rosrun rosserial_python serial_node.py /dev/ttyACM0

监控当前主题信号：

rostopic echo adc_arduino

ROS入门-arduino

1.安装ROS_Serial

1.1 安装环境参数

1.2 下载程序节点数据

2.Ubuntu安装Aruino程序

2.1 下载Arduino程序

2.2 解压安装包

3.安装ros-Arduino库文件

3.1 运行一次arduino

3.2 安装库文件

4.运行helloworld程序

4.1 运行arduino程序

4.2 arduino程序烧录

4.3 ROS端测试

5.运行Blink程序

5.1 运行arduino程序

5.2 arduino程序烧录

5.3 ROS端测试

6.运行时间同步与TF变换程序

6.1 运行arduino程序

6.2 arduino程序烧录

6.3 ROS端测试

7.运行按钮button程序

7.1 运行arduino程序

7.2 arduino程序烧录

7.3 ROS端测试

8. 使用ROS-CMake烧录helloworld代码

8.1 新建helloworld工程程序

8.2 更新总CMakelists

8.3 烧录程序至arduino mega2560

8.4 验证arduino节点通信

9 使用ROS-make烧录ADC-arduino检测程序

9.1 新建adc_arduino工程程序

8.2 更新总CMakelists

9.3 烧录程序至arduino mega2560

9.4 验证arduino节点通信

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