Serial Communication with 32 bit Micro-controller (Not Arduino!!!)

asked 2014-03-06 08:29:08 -0500

nicobari
86 ●9 ●14 ●16

Hi, I just started working with ROS and just yesterday got my first program up and running in ROS. I am interested in communicating with a 32 bit Micro-controller which is not Arduino via serial communication. The micro-controller in question is http://www.netburner.com/products/core-modules/mod54415 . I was searching on forum and the internet for simple serial communication between ROS and such micro-controller. I found rosserial which is mostly explained for AVR and Arduino. I also found rosserial_client which can be modified for any hardware apparently but is kind of difficult for me to understand at this stage. I found cereal_port package but it is discontinued for hydro. Everything that I found is geared towards serial communication with arduino. Is there a simple way I can set up serial communication between ROS and micro-controllers? May be I am not looking at the right place but I would appreciate if I can get some help in this matter. Thank you in advance

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answered 2014-03-06 14:28:57 -0500

mikepurvis

1153 ●29 ●46 ●56 http://clearpathrobotics.com/

Just to build on William's answer— creating a rosserial port for your device is very straightforward. The entirety of the Arduino port is contained in the following files:

https://github.com/ros-drivers/rosser...

All you really need to do is wire up a few functions which tell the rosserial client library how to read and write the serial port. Arduino is definitely not the only supported option, it's just a really common platform, and thus well-suited to being the demonstration.

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Thanks for the answer, I will look into it once I get done with my current project. Also lets say I modified the rosserial to work with my Microcontroller and named it as rosserial_microxxx does that mean the resultant serial code which I will write to set up my microcontroller as a node will be uploaded on the microcontroller or the code will run on a host with ROS? Thanks again.

nicobari ( 2014-03-06 15:43:47 -0500 )edit

Also I was looking at rosserial_clent tutorial and it shows that it has avr libraries in to compile the code, what happens if I don't have the libraries for micro-controller for ubuntu but just for the windows?

nicobari ( 2014-03-06 16:57:45 -0500 )edit

Hi @nicobari—the tutorial which will be of interest to you is this one: http://wiki.ros.org/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardware .

mikepurvis ( 2014-03-10 04:42:21 -0500 )edit

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answered 2014-03-06 09:03:48 -0500

William

17335 ●101 ●182 ●262 http://wjwwood.io/

If you just want to send and receive data with your microcontroller, then you can use PySerial for Python or Serial for C++:

If you want to "directly" publish and subscribe to ROS topics from your microcontroller then modifying rosserial for your system is likely the best option.

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Thanks for replying. Yeah, that is exactly what I want to do. I know about PySerial and like it but my current framework requires that I use C++ hence I installed Serial according to the instructions https://github.com/wjwwood/serial but after I followed the instructions to install it and tried to build my code I am getting error that serial.h file is missing. I know it is a case of missing the right line pointing to the location in CMakeList.txt file but since I am new to Ubuntu and ROS I am really not sure how to do that. I would appreciate if you can point me to a place where I can find how to do that. Thanks, TM

nicobari ( 2014-03-06 10:19:04 -0500 )edit

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answered 2014-03-06 11:31:09 -0500

nicobari
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Hi, So this is how I am doing it now, since I was able to install Pyserial and I have worked with serial port before in python, I wrote my serial receiving code in python and then publishing it. Since ROS doesn't differentiate between C++ node or Python node I can basically run the serial node with any other node written in c++. This doesn't look that efficient but works for now.

Regards, TM

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I think all these require the code to be written in C++ on the microcontroller, i.e to communicate with the microcontroller over rosserial running on the linux PC, we need to to write the code (As written for ardunio in tutorials) in C++ (as we have libraries) any chance to do this by C code on Uc.?

sumanth ( 2014-07-01 00:42:16 -0500 )edit

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Serial Communication with 32 bit Micro-controller (Not Arduino!!!)

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