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How can i send a message from ROS to arduino using rosserial?

asked 2018-08-06 08:02:50 -0600

Prateek gravatar image

updated 2018-08-06 12:05:25 -0600

jayess gravatar image

I want LED 13 on my Arduino Uno board to glow when I pass the number 100 as command line argument from ROS. Here is my arduino code:

#include <ros.h>
#include <Arduino.h>
#include <std_msgs/Int8.h>

ros::NodeHandle  nh;

void ledGlow(const std_msgs::Int8& val){

  digitalWrite(13, HIGH);
  digitalWrite(13, LOW);

ros::Subscriber<std_msgs::Int8> led("led/start", &ledGlow);

void setup() { 
  pinMode(13, OUTPUT);

void loop() {  

I am giving the following commands in the terminal:

  1. roscore
  2. rostopic pub led/start std_msgs/Int8 100

After giving the second command LED 13 doesn't glow, also RX led on arduino board doesn't blink.

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Try adding serial output to your Arduino program to determine if the ledGlow callback is being called, if yes check what value is in the message

VictorLamoine gravatar image VictorLamoine  ( 2018-08-06 08:53:38 -0600 )edit

I tried adding Serial.println("Hello"); inside the callback function but I'm not getting any output on serial output screen. Also, when I try printing something inside the loop, I get garbage value on serial output screen. Please help! @VictorLamoine

Prateek gravatar image Prateek  ( 2018-08-07 01:00:17 -0600 )edit

Make sure to adjust the baudrate of the serial terminal

VictorLamoine gravatar image VictorLamoine  ( 2018-08-07 01:52:10 -0600 )edit

2 Answers

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answered 2018-08-07 01:16:31 -0600

fvd gravatar image

updated 2018-08-08 09:13:01 -0600

1) You need to start up your node by running "rosrun your_package your_node" or an equivalent roslaunch command. I assume you're doing that and that the code you quoted is not complete.

2) If your node lives in its own namespace "my_node_ns", then it would try to subscribe to "/my_node_ns/led/start". Make sure to publish to the right topic.

3) Debug by:
- adding ROS_INFO("test"); or similar in your functions so you know they are being called.
- Using rostopic list /led/start --verbose to check if your node is subscribing correctly to the topic.
- Checking your serial ports and USB connection. It seems like a problem with your Arduino connection, not the ROS side.

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Thanks a lot :)

Prateek gravatar image Prateek  ( 2018-08-07 01:51:21 -0600 )edit

Sure. Please update what the problem was when you solved it.

fvd gravatar image fvd  ( 2018-08-08 02:22:43 -0600 )edit

answered 2018-08-07 01:32:46 -0600

Are you running the rosserial node as described in this tutorial that converts the rostopic message and sends it down the serial port. Don't use serial print in your code it will interfere with that communication

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Asked: 2018-08-06 07:48:23 -0600

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Last updated: Aug 08 '18