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Hector Navigation and Arduino

asked 2016-07-05 14:46:51 -0500

RoSPlebb gravatar image

Greetings!

I am new to ROS and i am implementing hector_slam and hector_navigation.

So the hector_navigation hector_exploration_controller publishes a cmd_vel message.

In arduino how can i access this data. How do i subscribe to the message and extract the data?

Thank you for any help you may be able to provide.

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answered 2016-07-06 01:10:02 -0500

I made a very simple example of a 2WD robot with a Pi2 on it than can be controlled via ROS some time ago, see here: simple_2wd_robot.

On the ROS side, it listens to '/cmd_vel' here. The left and right motor commands are then computed on the ROS side and sent via rosserial_arduino. On the Arduino side, they are received and used here. This is a very simple implementation that runs open loop. For accurate control, you'd probably want encoders on your wheels.

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Hey @Stefan Kohlbrecher my hector exploration controller is sending cmd_vel values in bursts and the arduino does not read all the values because the cmd_vel values come in so fast. Is there a way to change how the values are transmitted? Is it intended to be sent out in bursts?

RoSPlebb gravatar imageRoSPlebb ( 2016-08-02 14:35:28 -0500 )edit

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Asked: 2016-07-05 14:46:51 -0500

Seen: 314 times

Last updated: Jul 06 '16