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Hello, It will depend on which framework you use to program your microcontroller. For example there is already rossserial-mbed that works with boards supported by mbed (http://wiki.ros.org/rosserial_mbed). If you are not using mbed, you have to create the interface in the hardware file. Basically, you have to provide a method to write a byte on a buffered serial port, a method to read a byte from a buffered serial port and a method to give the time ellapsed since the beginning of the program in milliseconds. For example : - for mbed: https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_mbed/src/ros_lib/MbedHardware.h - for Arduino : https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_arduino/src/ros_lib/ArduinoHardware.h - for ChibiOS (did not worked for me) : https://github.com/SyrianSpock/stm32f4discovery_rosserial/blob/master/src/ros_lib/ChibiOSHardware.h

Everything is explained in the wiki here : http://wiki.ros.org/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardware

Hello, Hello,

It will depend on which framework you use to program your microcontroller. microcontroller.

For example there is already rossserial-mbed rossserial-mbed that works with boards supported by mbed (http://wiki.ros.org/rosserial_mbed). mbed. If you are not using mbed, you have to create the interface in the hardware file. Basically, you have to provide a method to write write a byte on a buffered serial port, a method to read read a byte from a buffered serial port and a method to give the time ellapsed time elapsed since the beginning of the program in milliseconds. milliseconds.

For example : - :

  • for mbed: https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_mbed/src/ros_lib/MbedHardware.h - https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_mbed/src/ros_lib/MbedHardware.h
  • for Arduino : https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_arduino/src/ros_lib/ArduinoHardware.h - https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_arduino/src/ros_lib/ArduinoHardware.h
  • for ChibiOS (did not worked for me) : https://github.com/SyrianSpock/stm32f4discovery_rosserial/blob/master/src/ros_lib/ChibiOSHardware.h

Everything is explained in the wiki here : http://wiki.ros.org/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardwarewiki.

(Edited for better formatting)