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how to call arduino codes using topics

asked 2017-12-06 09:36:11 -0500

pamis5 gravatar image

updated 2017-12-08 09:36:26 -0500

bpinaya gravatar image

the codes are dc motor controller, PID controller, ultrasonic sensor

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Welcome! What do you mean by "call arduino codes using topics"? What are you trying to accomplish? Also, please see

jayess gravatar image jayess  ( 2017-12-06 10:21:17 -0500 )edit

2 Answers

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answered 2017-12-06 12:45:55 -0500

fandrade gravatar image

updated 2017-12-06 12:46:40 -0500

If you want to interact with Arduino from ROS you have to do it by serial communication. I think the simplest way is python scripting. I did it a few years ago. I had implement a protocol with SYNC, OP_ID, PARAMETERS and CHECKSUM between the PC (ROS) and Arduino

This was my Python script imports:

    import rospy
    import os
    import comm
    from datetime import datetime

where comm is the python file wich manages communication with arduino board

Here I am reading a message from arduino in my ros node file (this is the arduino objetc: ArdIfc)

  newMsg = ArdIfc.recv()
            if newMsg != None:
                if newMsg.mod == comm.MOD_SENSORS: 
                    if newMsg.op == comm.OP_GETCURRENTDIST:
                        torsoPos = newMsg.param[0]

Here I am sending a message to the Arduino from my ros node file

 rospy.loginfo("Torso-> Stop message.")
                msgMotor = comm.Msg(comm.ARDUINO_ID, comm.MOD_MOTORS, comm.OP_STOP_MOTOR, [], 0)
                msgMotor_ack_received = False 

If you want the code I can send it to you.

best, Fedeico

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@fandrade instead of privately sharing code, can you please update your answer with it instead? That way the entire community can benefit from it instead of just one person.

jayess gravatar image jayess  ( 2017-12-06 14:45:54 -0500 )edit

@jayess if this is what @pamis5 need, I completeley agree to share the files here. Since I am not sure about the real question, I am waiting for his answer.

fandrade gravatar image fandrade  ( 2017-12-06 15:05:39 -0500 )edit

Sir may i learn how to connect a arduino based Robotic arm with MoveIt

lagankapoor gravatar image lagankapoor  ( 2018-01-15 02:35:55 -0500 )edit

@lagankapoor: comments aren't an appropriate place to ask questions. You should create your own question instead of asking in a comment.

jayess gravatar image jayess  ( 2018-01-15 02:38:56 -0500 )edit

thanks sir check i ask new question today please if you know about that help me

lagankapoor gravatar image lagankapoor  ( 2018-01-17 22:48:39 -0500 )edit

answered 2017-12-06 14:30:25 -0500

pedro1713 gravatar image

I would recommend taking a look at maybe that could work.

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Asked: 2017-12-06 09:36:11 -0500

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Last updated: Dec 06 '17