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getting basic hardware on Raspberry Pi working with ROS

asked 2013-06-18 02:57:52 -0500

Praseen gravatar image

updated 2014-01-28 17:16:56 -0500

ngrennan gravatar image

Hello, I have a ROS Groovy Galapagos bare bones installation from binary on the Raspberry Pi which has a Raspbian wheezy running on it. Please let know how to use it for some simple hardware like a switch and an LED connected to to the RPi. I would like the switch to switch on/off the LED through the ROS installation on the RPi.

Thanks in advance, Praseen

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answered 2013-08-13 11:12:29 -0500

kalectro gravatar image

All,

I am currently working on the same thing and got at least the GPIOs working. SPI, I2C, RS232 is implemented but not tested yet. What you need is the bosch_drivers package http://www.ros.org/wiki/bosch_drivers

Up to this point it only supports the Arduino and the Sub20 as hardware interface but I wrote a raspi_interface as well. You can get it from my private repo https://github.com/kalectro/raspi_interface.git

As you can see it is still under heavy development but as I said the GPIOs should be working. I make use of the awesome wiringPi library which needs to be installed. Get it from here http://wiringpi.com/download-and-install/

Feel free to fork or submit issues if you find any bugs or have any suggestions

Kai

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answered 2013-06-18 03:12:11 -0500

davinci gravatar image

I think within ROS there are no packages yet. There is a placeholder here: http://www.ros.org/wiki/ROSberryPi/Setting%20up%20ROS%20on%20RaspberryPi but no content yet.

You could modify a blink a led script like this one here to work with ROS: http://www.rpiblog.com/2012/09/using-gpio-of-raspberry-pi-to-blink-led.html

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Hi davinci, thanks a ton for the answer. I might need some further assistance soon.

Praseen gravatar imagePraseen ( 2013-06-23 19:02:45 -0500 )edit

Hi davinci, The second program link contains a program that could be modified to work with ROS. Do we need to create a ROS node first for that? How could ROS be configured to use the external hardware? Could you please point me to the right place, where it can be done?

Praseen gravatar imagePraseen ( 2013-06-23 19:14:43 -0500 )edit

It should be put into a ros node, see for an example here: http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient%28python%29 For external hardware you can better open a new question (and mark this one as correct).

davinci gravatar imagedavinci ( 2013-06-23 22:23:43 -0500 )edit

Hi davinci, Thanks a lot gain for the quick response. I will now create a seperate post for external hardware.

Praseen gravatar imagePraseen ( 2013-06-25 00:46:46 -0500 )edit

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Asked: 2013-06-18 02:57:52 -0500

Seen: 1,257 times

Last updated: Aug 13 '13