fake LaserScan on Arduino 2560 gives error Unable to sync with device possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
Hi,
I am having trouble making LaserScan run on Arduino. I have modified the c version of the fake laserscan code to run on an Arduino Mega 2560 using Indigo rosserial. I am receiving the error
Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino.
I have reinstalled the ros_lib and confirmed other tutorials such as TEMP102 work correctly so I know the basic functionality is OK.
This is my procedure
Terminal 1 -
roscore
- The ros core starts and run w/o error
Terminal 2
source /opt/ros/indigo/setup.bash
rosrun rosserial_python serial_node.py/dev/ttyACM0
after a few second I see the error as described above.
Here is my Arduino code for the fake laser.
#include "math.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
// ROS includes
#include <ros.h>
#include <ros/time.h>
//#include<std_msgs/Float32.h>
#include <sensor_msgs/LaserScan.h>
sensor_msgs::LaserScan Laser_msg;
ros:: Publisher pub_Laser("LaserData", &Laser_msg);
ros::NodeHandle nh;
double ranges[100];
double Intensities[100];
void setup()
{
nh.initNode();
nh.advertise(pub_Laser);
for (int z = 0 ; z<90; z++)
{
Laser_msg.ranges[z] = z/3;
Laser_msg.intensities[z] = z/3;
}
}
void loop()
{
Laser_msg.header.stamp = nh.now();
// Laser_msg.header.frame.id = "laser_frame";
Laser_msg.angle_min = -1.57; // start angle of the scan in Radians
Laser_msg.angle_max = 1.57; // stop angle of the scan in Radians
Laser_msg.angle_increment = 0.34; // angular distance between measurements in Radians 3.14/90
Laser_msg.time_increment = 4; // seconds between measurements
Laser_msg.range_min = 0.1; // min dist in meters
Laser_msg.range_max = 30; // max dist in meters
pub_Laser.publish(&Laser_msg);
nh.spinOnce();
}
any help would be apprciated -C
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