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How to interface an external robot encoder data to my rasberry pi 3 in ros?

asked 2019-10-15 01:39:52 -0600

MOHAN gravatar image

Hi, I was started a new project related to slam mapping and navigation project, But i was totally new in this topic.I was completed several steps and till now i had completed map obtaining using Rplidar and hector slam. Then i want interface my mini size nexus robot (which has arduino ,motor control drives & encoder feedback) with rasberry pi 3 and use its encoder pulse as odometry data.Here i was stucked . How to send an external robot odometry data to my rasberry pi 3? (possible ways : serial communication and using rasberrry pi 3 I/O pins).

Here my main doubt is , i am having rasberry pi 3 (with ros, rplidar ,hector slam & its in mapping stage) and nexus mini robot (with encoder left & right).

What is the steps to interfacing external robot encoder feedback pulse as odometry data with rasberry pi 3? Could you please explain me ?
Thank you!

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My suggestion would be to have the micro-controller do the encoder counting and the the data to raspberry pi using serial or SPI or I2C. Since the aurdino probably already does the counting, you just need to send it to Pi.

There are already ROS nodes that can treat an arduino natively through a serial port. I've never used it but check this out:

billy gravatar image billy  ( 2019-10-15 20:19:07 -0600 )edit

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answered 2019-10-24 20:19:43 -0600

fergs gravatar image

Take a look at the ros_arduino_bridge package as an example of moving encoder data Into ROS.

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Asked: 2019-10-15 01:37:04 -0600

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Last updated: Oct 24 '19