How connect two distinct hardware(robots/sensors)

asked 2015-06-10 16:17:28 -0600

Sam
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Hello all,

I am really new to ROS.The work that I have been done so far has been in a single Rapiro robot.I want to make a connection between two robots (two rapiros)but I am vague on how the messages are sent and recieved physically(with wire,bluethooth or else). The documentation is a little higher than my current level ;(( I am looking for a simple but all-inclusive tutorial of connecting two distinct computer/robot/sensor together. Can anybody steer me in the right direction?

Thank,

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answered 2015-06-11 03:05:33 -0600

tyolan
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For the Rapiro and other similar arduino compatible robots, the best way to do and learn about sending messages is check out the rosserial libraries available. For example in my project, i am able to connect Arduino and raspberry pi by using the package http://wiki.ros.org/rosserial_arduino . That package has all the essential communication knowledge and tutorials available for testing to send messages form your PC directly to your arduino and so much more. Regarding multiple connections of robots distributed across a wide platform. The best available link is http://wiki.ros.org/Robots/TurtleBot/... . As it shows you how to set-up a host computer and master in your setup to communicate with the ROS. It's also essential to note that there are other serial libraries bundled with ROS like for python and so on.

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Great guidance,thanks. Do you install ROS on your ras pi or you are talking to arduino with PC?

Sam ( 2015-06-11 10:25:03 -0600 )edit

@Sam Yeah.I have ROS on both(pi and PC). I use my PC for development and quick testing with the arduino serial library i mentioned in my answer and once i am satisfied i move on to my pi to do the same with my raspberry pi and arduino.

tyolan ( 2015-06-13 03:27:31 -0600 )edit

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answered 2015-06-11 02:24:48 -0600

Adolfo Rodriguez T

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Take a look at the multiple machines tutorial. It allows one computer to connect to the ROS master of another one, and share ROS interfaces. Those interfaces can consist of pretty much anything, including robot descriptions, sensor state and control commands, which is what you're interested in.

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How connect two distinct hardware(robots/sensors)

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