Hello,

i wrote some code on my Arduino Mega 2560 that reads Quadrature Encoders of my Robot for odometry. For connection i am using rosserial_server. It did work once. But now topics are not publishing anymore. When calling rostopic list arduino_odom and debug topics are not listed. I tried several reboots but nothing seems to help. I also tried to reflash the code onto Arduino.

I hope somebody can help me.

Here is a extract of the code:

    ros::NodeHandle nh;
 // Publish Odometry from Arduino
  geometry_msgs::Twist odom_msg;
  ros::Publisher arduinoPub ("arduino_odom", &odom_msg);


   //Publisher for Debugging
 geometry_msgs::Twist debug_msg;
 ros::Publisher Debug ("debug", &debug_msg);

void setup()
{
 pinMode(leftencoderA, INPUT); 
 pinMode(leftencoderB, INPUT); 
 digitalWrite(leftencoderA, HIGH);                // turn on pullup resistor
 digitalWrite(leftencoderB, HIGH);
 attachInterrupt(1, leftencoder, RISING);

 pinMode(rightencoderA, INPUT); 
 pinMode(rightencoderB, INPUT); 
 digitalWrite(rightencoderA, HIGH);                // turn on pullup resistor
 digitalWrite(rightencoderB, HIGH);
 attachInterrupt(0, rightencoder, RISING);

 nh.initNode();
 nh.advertise(arduinoPub);
 nh.advertise(Debug);

}

void loop()
{
  nh.spinOnce();
  calcvel();
  odom_msg.linear.x  = LeftVelocity;
  odom_msg.linear.y  = RightVelocity;


  debug_msg.linear.x = leftenc;
  debug_msg.linear.y = rightenc;

  debug_msg.angular.x = LeftVelocity;
  debug_msg.angular.y = RightVelocity;

  Debug.publish(&debug_msg);
  arduinoPub.publish(&odom_msg);

}