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This seems to be exactly what I need... I think... but may be a little over my head so I will likely have a few questions regarding how to set this up. I'm using an arm attached to a BS2. I have a Roomba platform (that will have the arm attached) being controlled via a laptop running Ubuntu/ROS with web based control via php pages. I would like to use ROS to control the arm as well but I'm unsure of some of the basics. I have the ARM working through the Basic Stamp and I'm able to control the arm via the laptop keyboard... should I keep the BS2 microcontroller and send serial commands using the code above (if so, I'll have other questions)... or, is it better (even feasible...) to bypass the microcontroller and send commands directly to the arm using ROS? I think this is possible, but I'm a novice and need help connecting the dots. Any advice is greatly appreciated!
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