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Ros serial protokoll white Microcontroller

asked 2012-08-06 10:51:45 -0500

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Hi,

im using ros and it works fine. But now i will send data from AVR Microcontroller to ros. i dont use any arduino board so what is the protokoll to send data via serial port? for example to transmitt odometry data. something like that

odom/term/x/y/z/r

is this possible without rosserial_arduino?

thanks

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answered 2012-08-06 11:57:34 -0500

rlinsalata gravatar image

There is also "regular" rosserial, along with a (generic?) rosserial_client. On the other hand, an Arduino is just an AVR microcontroller on a standard breakout board. The rosserial page also lists the general protocol, but you'll need the node running to act as a bridge between ROS and the serial connection.

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answered 2012-08-06 18:38:27 -0500

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ok i think the protokoll must look like: (http://www.ros.org/wiki/rosserial/Overview/Protocol) 1st Byte - Sync Flag (Value: 0xff) 2nd Byte - Sync Flag (Value: 0xff) 3rd Byte - Topic ID - Low Byte 4th Byte - Topic ID - High Byte 5th Byte - Message Length (N) - Low Byte 6th Byte - Message Length (N) - High Byte N Bytes - Serialized Message Data Byte N+7 - Checksum

but what means the -Low Byte // -High Byte?

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Simply you just need to reconstruct the High and Low bytes when you receive them into one number. Assign the high byte to an int, then bit shift it left 8 places then OR with the low byte will give you orginal no.

MarkyMark2012 gravatar image MarkyMark2012  ( 2012-08-06 21:13:17 -0500 )edit
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answered 2012-08-09 22:23:10 -0500

PaulBouchier gravatar image

Not sure why you don't want to use Arduino - perhaps because you think that the only kind of Arduino you can get is the physical formfactor about 2" x 3" and you need something different. Here's different answer.

Dale Wheats breadboard arduino

It's a tutorial on how to make a bare AVR chip be an Arduino (not in the physical sense, with shields, but in the programmatic sense). Then rosserial_arduino will just work. I use it all the time - it works great.

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Asked: 2012-08-06 10:51:45 -0500

Seen: 177 times

Last updated: Aug 09 '12