Hi all,

I am having a problem in writing a basic ROS publisher in arduino. Here is the code:

#include <ros.h>
#include <geometry_msgs/Vector3.h>

ros::NodeHandle nh;
geometry_msgs::Vector3 velocity_wheels;
ros::Publisher encoder_ticks_pub("re_ticks",&velocity_wheels); // Publish the encoder ticks

void setup()
{
  nh.getHardware()->setBaud(115200);
  nh.initNode(); // Initialize Node
  nh.advertise(encoder_ticks_pub); 
}

void loop()
{

   velocity_wheels.x = 0.1;
   velocity_wheels.y = 0.2;
   velocity_wheels.z = 0.3;
   encoder_ticks_pub.publish(&velocity_wheels);

   nh.spinOnce();
   delay(10);
}

When I run it using rosrun rosserial_python serial_node.py _port:=/dev/dr_arduino _baud:=115200 it gives me the following : [INFO] [WallTime: 1459356598.600339] wrong checksum for topic id and msg. The complete output is :

[INFO] [WallTime: 1459356541.444546] ROS Serial Python Node
[INFO] [WallTime: 1459356541.447199] Connecting to /dev/dr_arduino at 115200 baud
[INFO] [WallTime: 1459356543.574293] Note: publish buffer size is 512 bytes
[INFO] [WallTime: 1459356543.574697] Setup publisher on re_ticks [geometry_msgs/Vector3]
[INFO] [WallTime: 1459356598.600339] wrong checksum for topic id and msg

Also, sometime I get this error : tried to publish before configured topic id 125

I am not able to understand what is causing this issue. If I run the following rosarduinopublisher, it works fine.

Update:
If I increase the delay from delay(10) to delay(100), the problem does not occur. Can it because the data is being published at a very high speed and the buffer size is not enough? Will it make sense to increase the buffer size?

Any help will be appreciated.

Thanks in advance.
Naman