Task #1827

Create ROS Node: AVR Bridge

Added by Ben Wasserman over 2 years ago. Updated about 2 years ago.

Status:FixedStart date:10/13/2011
Priority:LowDue date:10/24/2011
Assignee:Thomas Mullins% Done:

100%

Category:OSEstimated time:5.00 hours
Target version:-

Description

Create the ROS node for the avr bridge. The git repo can be found: git clone ssh://roboclub.org/home/svn/scoutos. The node diagram can be found at https://www.roboticsclub.org/redmine/attachments/522/rosNodes2.pdf.

History

#1 Updated by Priyanka Deo over 2 years ago

  • Due date set to 10/24/2011

#2 Updated by Abraham Levkoy over 2 years ago

  • % Done changed from 0 to 50
  • Estimated time set to 5.00

I think getting rosserial working on the ARM side is as simple as running the rosserial_python ROS node. As such, there is no node creation for me to do on the ARM side. That said, I don't have access to a computer with ROS right now, so I can't observe this. It looks like some work will be necessary on the AVR side. rosserial acts as the main program for the AVR, and you create the C++ for the individual ROS nodes as functions in that program.

The only full rosserial micro-controller client is for Arduino, so we will need to port that to our AVR micro-controller. It looks like this is as simple as editing a header file and creating one class for low-level serial communication.

#3 Updated by Abraham Levkoy about 2 years ago

  • Assignee changed from Abraham Levkoy to Thomas Mullins

#4 Updated by Thomas Mullins about 2 years ago

  • % Done changed from 50 to 70

AVR side has been written but not yet tested. ARM side is indeed handled entirely by rosserial, so nothing needs to be done there.

#5 Updated by Thomas Mullins about 2 years ago

  • Status changed from Assigned to Fixed
  • % Done changed from 70 to 100

Tested, fixed, seems to work :)
Also, there's now a launch file for ARM side, under scout_avr/launch.

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