Connecting roomba through arduino to turtlebot [closed]
Hello, I want connect roomba 620 to turtlebot through arduino. I have changed the port from ttyUSB0 to ttyACM0, but I don't know how change baudrate? When I run minimal.launch:
[ERROR] [WallTime: 1404556853.158925] Failed to contact device with error: [Error reading from SCI port. Wrong data length.]. Please check that the Create is powered on and that the connector is plugged into the Create.
And I change in minimal.launch Create to Roomba, but why in description of error written Create? I know that for Create default baudrate 57600, and what baudrate default for roomba? My roomba work at 115200 baudrate, and i don't know how change baudrate to 57600. Please, tell me how use turtlebot 2 with roomba 620. ROS Hydro Arduino code:
#include <SoftwareSerial.h>
SoftwareSerial myserial(9, 11);
void setup() {
Serial.begin(57600);
myserial.begin(19200);
pinMode(2, OUTPUT);
digitalWrite(2, LOW);
delay(100);
digitalWrite(2, HIGH);
delay(2000);
}
void loop() {
if(Serial.available() > 0) {
byte b = Serial.read();
myserial.write(b);
}
if(myserial.available() > 0) {
byte b = myserial.read();
Serial.write(b);
}
}
Thx, And sorry for my english.