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I have fixed this error. I explain this: My Arduino's program is equal than yours. But I have one line different:

nh.getHardware()->setBaud(57600);

This is because ROS works with 57600 bauds and if you use less bauds, you'll lose many packages. So in terminal, I eject for the conection:

sudo rfcomm connect rfcomm1 MAC_DEVICE NUMBER_CHANNEL In my case would be: sudo rfcomm connect rfcomm1 98:D3:31:B2:D8:EB 1

Thus the bluetooth's led will remain fixed, no flash.

The last, I eject ros with: rosrun rosserial_python serial_node.py _port:=/dev/rfcomm1 _baud:=57600

And in other terminal: rostopic echo chatter

And bualá! jajajajajaja :) Hope this helps someone :)

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I have fixed this error. I explain this: My Arduino's program is equal than yours. But I have one line different:

nh.getHardware()->setBaud(57600);

nh.getHardware()->setBaud(57600);

This is because ROS works with 57600 bauds and if you use less bauds, you'll lose many packages. So in terminal, I eject for the conection:

sudo rfcomm connect rfcomm1 MAC_DEVICE NUMBER_CHANNEL In my case would be: be:

sudo rfcomm connect rfcomm1 98:D3:31:B2:D8:EB 1

1

Thus the bluetooth's led will remain fixed, no flash.

The last, I eject ros with: with:

rosrun rosserial_python serial_node.py _port:=/dev/rfcomm1 _baud:=57600

_baud:=57600

And in other terminal: rostopic echo chatter

And bualá! jajajajajaja :) Hope this helps someone :)