STM32 Microcontroller for communication with ROS

asked 2016-12-23 04:21:01 -0600

kartikmadhira1 gravatar image

I currently intend to deploy an STM32 (Stm32f103c8t6) as the microcontroller to publish the Odom message and message from other sensors also. My questions are as follows:

  1. Is there any support available for the STM32 for communicating with ROS(client, serial etc.)? I know of the rosserial but it's pretty confusing to me on the tutorials page.
  2. Has anyone implemented the STM32 in their bots? Would it be better to port to an arduino? If not, is the process of writing an altogether new node for the stm32 a tiresome task?

Thanks in advance.

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Can you clarify what is confusing about rosserial? Perhaps we can do something about that. It would seem like a good fit here, provided you have a regular PC / more powerful SBC for the STM to communicate with.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-23 04:32:16 -0600 )edit

As in the library files for the rosserial to work on the stm. How do i put the header files or libraries like the <ros.h> in my eclipse IDE

kartikmadhira1 gravatar image kartikmadhira1  ( 2016-12-23 05:42:09 -0600 )edit

Can you tell me how could i link the ros libraries with the stm workspace on linux?

kartikmadhira1 gravatar image kartikmadhira1  ( 2016-12-23 09:17:46 -0600 )edit

The idea is basically to generated the ros_lib files (sources + headers), and then use those directly in your STM project. There are no dependencies on anything 'ROS' in the ros_lib files, so you could even copy them to your Windows machine.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-24 05:36:24 -0600 )edit

I have to just include the ros and std::msgs header file and code my STM32 in C only? I have come upon a c++ library of the STM32 ,the stm32plus. Which one should I go with? With all respect, can I have your email ID ?

kartikmadhira1 gravatar image kartikmadhira1  ( 2016-12-26 23:58:46 -0600 )edit

It's all C++, so you'll have to find a compatible runtime. I can't recommend you a particular set of libraries, as I don't have enough experience with them.

re: email: no, I'd rather we keep the discussion on this forum, so future readers may benefit from it as well.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-27 08:12:55 -0600 )edit

This is the stm32 C++ library and this is the hardware wrapper for the rosserial. I'm confused here on how do I configure the hardware wrapper into the C++ implementation as well as fusing the ros_lib

kartikmadhira1 gravatar image kartikmadhira1  ( 2016-12-28 07:49:28 -0600 )edit