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There are plenty of articles online about the Jetson GPIO but there's not much about using it with ROS.
Is there a simple way to integrate Jetson GPIO with ROS or do you have to control everything manually through your ROS cpp program?
You can do it both ways. You can directly access the pins from your program with C++. The other approach is to write a node that uses topics or services to access or set the pins. For reference you can look at these resources from the wiki:
Writing a Simple Service and Client (C++))
Writing a Simple Publisher and Subscriber (C++))
I don't know how you are managing permissions on your robot, but for me to access GPIO on my Beaglebone, I just made sudo passwordless and then when my node launched, I chmodded the /dev/class/gpio folder to allow my user to access it. Hope this helps! luketheduke
Great info! I'm glad you brought up permissions. I think I'll take your passwordless sudo approach. I have wifi / ssh on this machine but sudo won't apply unless someone is logged in so I should be good.
Also, another thing to note is that if you are using the robot_upstart package to launch your nodes on boot, then you want to modify the source code for it to use sudo -u USERNAME instead of the setuid that it uses itself. In the unmodified state, robot_upstart doesn't play nice with GPIO.
If this answer answers your question, please mark it solved by pressing the button below the upvote/downvote buttons. This helps improve the ROS community. Thanks, luketheduke
Is there an include statement for GPIO in C++? Like #include /jetson/gpio
There are several different approaches to controlling GPIO with the Jetson. Because C++ is such a low level language here is the recommended approach from the Nvidia forums: https://devtalk.nvidia.com/default/to... You can also try this library: https://github.com/brgl/libgpiod
So you would merely make the gpio availble to any package calling it?
It depends on what approach you want to take, you could either integrate GPIO into every package that needed it or make one package that handles all GPIO and communicates over a topic/service.
Asked: 2016-06-26 10:50:26 -0500
Seen: 1,741 times
Last updated: Jun 26 '16
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