ROS-KINETIC
Hi, I'm trying make a code to a little robot with Arduino using ROSSERIAL, but sometimes when I change my code, this error happen, and i don't know why.
Let me explain.
On this code.
#include
#include
#include
#include
#include
#include
#include
//#include
#include
ros::NodeHandle nh;
rosserial_arduino::Adc adc_msg;
ros::Publisher p("adc", &adc_msg);
ros::Subscriber subCmdLeft("cmd_left_wheel", moveLeftMotorCB);
ros::Publisher left_wheel_vel_pub("/left_wheel_velocity", &left_wheel_vel);
ros::Subscriber subCmdRight("cmd_right_wheel", moveRightMotorCB);
ros::Publisher right_wheel_vel_pub("/right_wheel_velocity", &right_wheel_vel);
ros::Subscriber subCmdVel("cmd_vel", cmdVelCB);
ros::Publisher sensor_vel_pub("/sensor_velocity", &sensor_vel);
void setup()
{
setupEncoders();
setupMotors();
Timer3.initialize(LOOP_TIME); /// Periodic Timer interrupt for control tasks.
Timer3.attachInterrupt(controlLoop);
nh.initNode();
nh.advertise(p);
nh.subscribe(subCmdLeft);
nh.advertise(left_wheel_vel_pub);
nh.subscribe(subCmdRight);
nh.advertise(right_wheel_vel_pub);
nh.subscribe(subCmdVel);
nh.advertise(sensor_vel_pub);
bipGen(800, 200, 333, 3); // Startup bips. It takes 1s.
}
void loop()
{
if (loop_time < millis())
{
adc_msg.adc0 = averageAnalog(0);
adc_msg.adc1 = averageAnalog(1);
adc_msg.adc2 = averageAnalog(2);
adc_msg.adc3 = averageAnalog(3);
adc_msg.adc4 = averageAnalog(4);
adc_msg.adc5 = averageAnalog(5);
p.publish(&adc_msg);
loop_time = millis() + 1000; // 1 Hz analog data publishing.
}
nh.spinOnce();
}
void controlLoop()
{
Timer3.detachInterrupt(); //stop the timer
left_wheel_vel.data = float(left_encoder_position) * 2 * pi * left_wheel_radius * 1000000 / loop_time / gear_relationship / encoder_cpr;
left_wheel_vel_pub.publish(&left_wheel_vel);
right_wheel_vel.data = float(right_encoder_position) * 2 * pi * right_wheel_radius * 1000000 / loop_time / gear_relationship / encoder_cpr;
right_wheel_vel_pub.publish(&right_wheel_vel);
sensor_vel.linear.x = (left_wheel_vel.data * left_wheel_radius + right_wheel_vel.data * right_wheel_radius)/2;
sensor_vel.linear.y = 0;
sensor_vel.linear.z = 0;
sensor_vel.angular.x = 0;
sensor_vel.angular.y = 0;
sensor_vel.angular.z = (left_wheel_vel.data * left_wheel_radius + right_wheel_vel.data * right_wheel_radius)/l_wheels;
sensor_vel_pub.publish(&sensor_vel);
left_encoder_position = 0;
right_encoder_position = 0;
Timer3.attachInterrupt(controlLoop); //enable the timer
}
If I take off, the variable loop_time of this part, the code generates the error, but if I keep it there, don't. And don't understand why. But the problem that I need take off.
left_wheel_vel.data = float(left_encoder_position) * 2 * pi * left_wheel_radius * 1000000 / loop_time / gear_relationship / encoder_cpr;
How can I solve it?
IF I KEEP THERE, THE CODE WORKS FINE AND I CAN READ THE TOPICS FROM ARDUINO.
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Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
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Publishing on a topic using rosserial windows?
Hi,
So I have a ROS running on my Linux machine and I am following the tutorial given here:
http://wiki.ros.org/rosserial_windows/Tutorials/Hello%20World
The code given in the tutorial looks like this:
// rosserial_hello_world.cpp : Example of sending command velocities from Windows using rosserial
//
#include "stdafx.h"
#include
#include
#include "ros.h"
#include
#include
using std::string;
int _tmain (int argc, _TCHAR * argv[])
{
ros::NodeHandle nh;
char *ros_master = "1.2.3.4";
printf ("Connecting to server at %s\n", ros_master);
nh.initNode (ros_master);
printf ("Advertising cmd_vel message\n");
geometry_msgs::Twist twist_msg;
ros::Publisher cmd_vel_pub ("cmd_vel", &twist_msg);
nh.advertise (cmd_vel_pub);
printf ("Go robot go!\n");
while (1)
{
twist_msg.linear.x = 5.1;
twist_msg.linear.y = 0;
twist_msg.linear.z = 0;
twist_msg.angular.x = 0;
twist_msg.angular.y = 0;
twist_msg.angular.z = -1.8;
cmd_vel_pub.publish (&twist_msg);
nh.spinOnce ();
Sleep (100);
}
printf ("All done!\n");
return 0;
}
I want to publish a message type Float32 on a topic name "/truevision/throttle_cmd"
what changes do I need to make?
This is what my code looks like:
// ConsoleApplication1.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include
#include
#include "ros.h"
#include
#include
using std::string;
int main(int argc, _TCHAR * argv[])
{
ros::NodeHandle nh;
char *ros_master = "172.17.194.162";
printf("Connecting to server at %s\n", ros_master);
nh.initNode (ros_master);
printf("Advertising message\n");
std_msgs::Float32 a;
ros::Publisher cmd("/truevision/throttle_cmd", &a);
nh.advertise(cmd);
printf("Go Car!\n");
while (1)
{
a = 1.0;
cmd.publish(a);
nh.spinOnce();
Sleep(100);
}
printf("All done\n");
return 0;
}
THis is giving me the following errors:
(So apparently 1.0 is not of type float32, how do I change that?)
Severity Code Description Project File Line Suppression State
Error (active) E0349 no operator "=" matches these operands ConsoleApplication1 c:\Users\kaela\source\repos\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.cpp 32
Severity Code Description Project File Line Suppression State
Error (active) E0413 no suitable conversion function from "std_msgs::Float32" to "const ros::Msg *" exists ConsoleApplication1 c:\Users\kaela\source\repos\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.cpp 33
Thank you.
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Connecting to ROS using rosserial on Windows?
I have ROS running on my Linux machine and I wanna connect to ROS using rosserial on Windows. So I have been following the tutorial on rosserial given here: http://wiki.ros.org/rosserial_windows/Tutorials/Hello%20World
This is what my code looks like which is pretty much the same as the tutorial:
// ConsoleApplication1.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include
#include
#include "ros.h"
#include
#include
using std::string;
int main(int argc, _TCHAR * argv[])
{
ros::NodeHandle nh;
char *ros_master = "172.17.194.162";
printf("Connecting to server at %s\n", ros_master);
nh.initNode (ros_master);
printf("Advertising message\n");
std_msgs::Float32 a;
ros::Publisher cmd("", &a);
nh.advertise(cmd);
printf("Go Car!\n");
while (1)
{
nh.spinOnce();
Sleep(100);
}
printf("All done\n");
return 0;
}
So, I am getting these errors with the code (the part where I am giving the IP of my Linux machine). I am doing it the same way it is done in the tutorial. Don't understand what is wrong with the way i am passing the IP address here
Severity Code Description Project File Line Suppression State
Error (active) E0144 a value of type "const char *" cannot be used to initialize an entity of type "char *" ConsoleApplication1 c:\Users\kaela\source\repos\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.cpp 19
Severity Code Description Project File Line Suppression State
Error C2664 'void ros::NodeHandle_::initNode(char *)': cannot convert argument 1 from 'const char *' to 'char *' ConsoleApplication1 c:\users\kaela\source\repos\consoleapplication1\consoleapplication1\consoleapplication1.cpp 22
Can't seem to figure out what the problem is.
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ROS Node for computation
I'm trying to understand the ROS Computation graph. I understand that we can have nodes such as a camera, a servo motor, an ultrasonic sensor, or an esc. These nodes publish their messages to topics which may come back to the master or go to other notes. I feel silly asking this, but where do you do the computation? Where do you take all these inputs, calculate and output a resulting value?
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Publishing String from Terminal?
Is there any problem in my code? i just want, if i publish *"q"* Blue LED glow. Red for *"a"* and blink for *"z"* .
i use
> rostopic pub /servo std_msgs/String
> "data: 'z'"
command to publish topic.but nothing happening.the code running without error.
my code is
#include
#include
ros::NodeHandle nh;
void pwm( const std_msgs::String& cmd_msg)
{
if (cmd_msg.data=="q")
{
digitalWrite (13, HIGH); //BLUE LED ON
}
else if (cmd_msg.data=="a")
{
digitalWrite (12, HIGH); //RED LED ON
}
else if (cmd_msg.data=="z")
{
for(int i=0;i<1000;i++)
{
digitalWrite (13, HIGH); //LED BLINKING
delay(100);
digitalWrite (13, LOW);
digitalWrite (12, HIGH);
delay(100);
digitalWrite (12, LOW);
}
}
}
ros::Subscriber sub("servo", pwm);
void setup()
{
pinMode(12, OUTPUT);
pinMode(13, OUTPUT);
nh.initNode();
nh.subscribe(sub);
}
void loop()
{
nh.spinOnce();
delay(10);
}
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Is there a way to publish keyboard events (using key_teleop for example) to a serial port?
Hi,
I've been looking at ways to publish keyboard commands to a UART serial port and the top result keeps pointing me to rosserial, but I'm not entirely sure this exactly fits my needs. Ideally, I want to be able to send keyboard events to my flight controller through PPM signals because I already have the hardware that would send signals from a serial port to my flight controller. This is how I envision it would go from all the materials I have:
KEYPRESS (Twist message) ==> UART SERIAL PORT (probably ttyS1) ==> PPM ENCODER (not an Arduino) ==> FLIGHT CONTROLLER
I found that I can publish Twist messages using either the key_teleop module or teleop_twist_keyboard, but I'm stuck as to how to send this to a serial port (i.e. ttyS1). Would I simply need to write my own ROS node and use pyserial (since I would be writing in python) to open the port and pass the message in? Or can I use rosserial somehow to pass in Twist messages?
Thank you in advance and please excuse me for asking a noob question.
Trixie
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Rosserial: Topic id 125 & creation of publisher failed
Hi,
I created a custom message:
SonarDistances.msg
uint8 front_middle
uint8 right_front
uint8 right_middle
uint8 right_rear
uint8 left_front
uint8 left_middle
uint8 left_rear
uint8 rear_middle
Catkin_make install and creation of the ros_lib etc. was done. devel path added to .bashrc.
Baud rate on arduino nano was set.
> Serial.begin(57600)
Upload to arduino was fine.
Now I start roscore and rosserial
> rosrun rosserial_python serial_node.py /dev/ttyUSB0
After this I receive continously the following messages in the terminal:
> [ERROR] [1521061577.369482]: Tried to
> publish before configured, topic id
> 125
>> [ERROR] [1521061577.434796]: Creation
> of publisher failed: need more than 1
> value to unpack
If I just use a simple chatter rosserial example with a string message the connection works an the topic is shown with rostopic echo.
Any advise?
BR
Marco
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how to install rosserial for ubuntu 14.04
ubuntu 14.04
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How to use rospublisher to publish a byte value
I did a s.bus reading on ardiuno, it can work perfectly when i link to ROS, but there is problem with my code:
#include
#include
#include
#include
#include
int maximumRange = 400; // Maximum range needed
int minimumRange = 0; // Minimum range needed
long duration, distance; // Duration used to calculate distance
byte localdata[25] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
double Kp=0, Ki=0, Kd=1;
double Setpoint, Input, Output;
int i=0;
FUTABA_SBUS sBus;
ros::NodeHandle nh;
std_msgs::String str_msg;
ros::Publisher chatter("sbusdata", &str_msg);
void sbus_encoder()
{
localdata[0] = sBus.sbusData[0];
localdata[1] = (sBus.channels[0] );
localdata[2] = (sBus.channels[0]>>8 | sBus.channels[1]<<3);
localdata[3] = (sBus.channels[1]>>5 | sBus.channels[2]<<6);
localdata[4] = (sBus.channels[2]>>2);
localdata[5] = (sBus.channels[2]>>10 | sBus.channels[3]<<1);
localdata[6] = (sBus.channels[3]>>7 | sBus.channels[4]<<4);
localdata[7] = (sBus.channels[4]>>4 | sBus.channels[5]<<7);
localdata[8] = (sBus.channels[5]>>1);
localdata[9] = (sBus.channels[5]>>9 | sBus.channels[6]<<2);
localdata[10] = (sBus.channels[6]>>6 | sBus.channels[7]<<5);
localdata[11] = (sBus.channels[7]>>3);
localdata[12] = (sBus.channels[8] );
localdata[13] = (sBus.channels[8]>>8 | sBus.channels[9]<<3);
localdata[14] = (sBus.channels[9]>>5 | sBus.channels[10]<<6);
localdata[15] = (sBus.channels[10]>>2);
localdata[16] = (sBus.channels[10]>>10 | sBus.channels[11]<<1);
localdata[17] = (sBus.channels[11]>>7 | sBus.channels[12]<<4);
localdata[18] = (sBus.channels[12]>>4 | sBus.channels[13]<<7);
localdata[19] = (sBus.channels[13]>>1);
localdata[20] = (sBus.channels[13]>>9 | sBus.channels[14]<<2);
localdata[21] = (sBus.channels[14]>>6 | sBus.channels[15]<<5);
localdata[22] = (sBus.channels[15]>>3);
localdata[23] = sBus.sbusData[23]; //flag
localdata[24] = 0x00;
for(int i=0;i<25;i++)
{
//Serial1.write(localdata[i]);
str_msg.data = localdata[i];
chatter.publish(&str_msg);
}
}
void setup(){
sBus.begin();
Serial.begin(115200);
nh.initNode();
nh.advertise(chatter);
// sBus.channels[0]=990;
}
void loop(){
sBus.FeedLine();
sBus.PassthroughSet(0);
if (sBus.toChannels == 1){
//sBus.UpdateServos();
sBus.UpdateChannels();
sBus.toChannels = 0;
if(sBus.channels[5]>1500)//limit
{
if(sBus.channels[0]>1000)//throttle limit
{ sBus.channels[0]=1000;}
if(sBus.channels[1]<940)//left yaw limit
{sBus.channels[1]=940;}
if(sBus.channels[1]>1040)//right yaw limit
{sBus.channels[1]=1040;}
if(sBus.channels[2]<940)//pitch infront limit
{sBus.channels[2]=940;}
if(sBus.channels[2]>1040)//pitch backwards limit
{sBus.channels[2]=1040;}
if(sBus.channels[3]<940)//roll left limit
{sBus.channels[3]=940;}
if(sBus.channels[3]>1040)//roll right limit
{sBus.channels[3]=1040;}
}
sbus_encoder();
}
}
This is the error shown:
sbus_example.pde: In function ‘void sbus_encoder()’:
sbus_example.pde:56:35: error: invalid conversion from ‘byte {aka unsigned char}’ to ‘std_msgs::String::_data_type {aka const char*}’ [-fpermissive]
How can i convert this code so that the publisher can display my value?
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↧
rosserial Raspberry Pi AMA0
Dear all,
i would like to use a raspberry pi 3 and a arduino compatible expansion shield which can be pluged on the GPIO header, so i would like to use the serial interface.
If i do so and starting roscore and after that the node: rosrun rosserial_python serial_node.py /dev/ttyAMA0 I'm getting an error message back. But if i use a FTDI converter and connect them with the USB interface of the RPI and starting the node: rosrun rosserial_python serial_node.py /dev/ttyUSB0 again, everything is working great.
So would should i do to be able to use the UART/Serial Interface of the RPi?
I would be very much appericate about every reply - Thanks a lot.
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two ACM devices does not function together
I use hokuyo lidar and arduino for my application. Hokuyo is connected to laptop directly and it is connected as ACM port.
Arduino board connected to the laptop is ACM1. Now, whenever I upload a new code in arduino using rosserial, while the lidar is also connected to the laptop, it shows following error.
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 1 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
If I remove either of the device from the laptop, then the other one works. Please do help !
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How to use Frontier_exploration or RRT_exploration on actual Robot?
I am working on an autonomous mapping robot. I am confused about how to use the frontier_exploration package or the rrt_exploration package with my robot.
I am using ROS indigo on my laptop using Ubuntu, Arduino as the controller and Kinect for laser scan.
I have read about rosserial but I dont know how to use it with the above mentioned packages?
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Bluetooth communication in ROS. Unable to setup dev/rfcomm
Hi,
I am have [Bluno nano](https://www.dfrobot.com/product-1122.html) and would like to connect it my pc and receive information via blue tooth. Unfortunately i am very new to blue tooth and sure about the exact steps. I went through few ROS answer and some online but unable to make it work.
1. I paired Bluno nano my pc (checked via - $ bluetoothctl , [bluetooth]# paired-devices).
2. After that i ran $ sudo rfcomm bind 0 F4:5E:AB:AA:BB:CC 1
3. Then i tried to $ run rosrun rosserial_python serial_node.py /dev/r
when i double tap for the above command nothing is showing up for "dev/r..." .
I also tried " sudo vim /etc/bluetooth/rfcomm.conf" but rfcomm.config doesn'texist.
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Arduino code facing problems with rosserial
Hello, I am a beginner.
I will try to be as specific as possible, So I am trying to run a single servo with arduino using rosserial lib. I am using the example code for servo control :
----------
#if (ARDUINO >= 100)
#include
#else
#include
#endif
#include
#include
#include
ros::NodeHandle nh;
Servo servo;
void servo_cb( const std_msgs::UInt16& cmd_msg){
servo.write(cmd_msg.data); //set servo angle, should be from 0-180
digitalWrite(13, HIGH-digitalRead(13)); //toggle led
}
ros::Subscriber sub("servo", servo_cb);
void setup(){
pinMode(13, OUTPUT);
nh.initNode();
nh.subscribe(sub);
servo.attach(9); //attach it to pin 9
}
void loop()
{
nh.spinOnce();
delay(1);
}
----------
there is always an error on every upload I do --- > avrdude: stk500_recv(): programmer is not responding
I have to always change the permission for /dev/ttyACM0 with "sudo chmod a+rw /dev/ttyACM0", after this I uploaded the code and it was successful.
I uploaded the code, uploading was successful but when I connected the servo, it did not give any output(it did not run) when I published an angle msg on servo topic, when I echoed the servo topic, the msgs topic was talking all the msgs but there was not movement in the servo at all.
Then I tried to run a non-ros code to run a simple servo on my computer and with the simple code too the servo did not respond at all, just to make sure that all the hardware was fine and I took another windows-computer and tried to upload the simple code and the servo worked great with the same code.
I am using ros-kineitc and rosserial for this project, what could be the problem here ? please help me and ask any further questions as required to solve this. Thanks for any help.
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Bidirectional rosserial communication
Hello everyone,
I am having some trouble regarding a program that connects a RPi3 with ROS and a UNO board. The idea is that the node in RPi advertises on a certain topic that UNO's node is suscribed to. Also, the other way around is meant with another topic, in which the UNO advertises.
I have some trouble when defining the publisher on the UNO's code, I don't know if i should put something like:
a)
ros::Publisher pub_boton("topic", &message);
b)
ros::Publisher pub_boton = nh.advertise ("topic", 1000);
I saw a) in many examples, but I don't find it in any official documentation.
Another problem I have is that, when I try to publish a std_msgs/Int8, by doing:
#include "std_msgs/Int8.h"
std_msgs::Int8 message;
int b=1; message.data=b;
ros::Publisher pub_boton("topic",&message);
I get the following error:
**Nodo_rosserial_ultrasonicov2.ino:12:1: error: ‘message’ does not name a type**
I don't get it, as I do specify the type of the message.
Thank you in advance.
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How to install rosserial for Arduino on ROS-Kinetic?
There official website states that no information is contained regarding rosserial for Arduino on the latest verion of ROS i.e, Kinetic. Can I install manually? If so, please help me.
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Adding class callback function on Arduino
I'm having an issue with using a class function as my subscriber callback function on Arduino.
First, I'm wondering why there are differences between ROS classes and functions on Arduino and "normal" ROS installation on Linux. For example:
> `nh.initNode()`
instead of
> `ros::init(argc, argv, "controller")`
Or:
> `ros::Subscriber relPos_subscriber("stepper_rel_pos", &Class::callback_fct, &class)`
instead of
> `ros::Subscriber relPos_subscriber("stepper_rel_pos", 10, &Class::callback_fct, &class)`
But my main concern is about using a class function as a callback for my subscriber, which is not in the same class and namespace. Before, it worked fine by using a callback function in the same class with "this" and the same namespace. But I couldn't find any help for my specific case.
I'm getting a large error message about the Subscriber. Last line:
> no matching function for call to> 'ros::Subscriber::Subscriber(const> char [16], void> (asc_node::Stepper::*)(const> std_msgs::Int32&),> asc_node::Stepper*)'
My node:
#include
#include "Stepper.h"
ros::NodeHandle nh;
asc_node::Stepper stepper; //creating the class object
ros::Subscriber relPos_subscriber("stepper_rel_pos", &asc_node::Stepper::moveRel, &stepper);
nh.initNode();
nh.subscribe(relPos_subscriber);
My class function:
#include "Stepper.h"
namespace asc_node {
// Constructor & Destructor
void Stepper::moveRel(const std_msgs::Int32& message)
{
// do something
}
} /* namespace */
And my declaration in Stepper.h:
namespace asc_node {
class Stepper {
//...
void moveRel(const std_msgs::Int32& message);
}
} /* namespace */
I'm using Arduino IDE and an Arduino Uno Rev. 3.
Any help is appreciated.
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Custom ros.h when using rosserial_arduino can not include node_handle.h
I tried to configure the number of publishers and subscribers according to this tutorial:
http://wiki.ros.org/rosserial_arduino/Tutorials/NodeHandle%20and%20ArduinoHardware
To set it up only for one project, I put a ros.h file in my Arduino project folder. I want to leave all the other files as they are in the libraries/ros_lib folder. But following the tutorial and writing (in the ros.h)
#ifndef _ROS_H_
#define _ROS_H_
#include "ros/node_handle.h"
#include "ArduinoHardware.h"
leads to the error:
In file included from /home/student/Arduino/arduino_stepper_controller_drv8825/asc_node/asc_node.ino:10:0:
sketch/ros.h:4:29: fatal error: ros/node_handle.h: No such file or directory
#include
^
compilation terminated.
exit status 1
Error compiling for board Arduino/Genuino Uno.
How can I include it correctly, even if my .ino reffers to a ros.h in the project folder?
I'm using Arduino IDE on Ubuntu 16.04 and ROS Kinetic.
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How to create a custom msg for arduino ?
I am trying to create the custom msg for Arduino. I refer the [rosserial_client](http://wiki.ros.org/rosserial_client/Tutorials/Generating%20Message%20Header%20Files) package to generate the custom msg.
I created the package ```simbha_msg``` for msgs. Package contains the msg file ```simbha_imu.msg```
Header header
float64 roll
float64 pitch
float64 yaw
I run the command ``` rosrun rosserial_client make_library.py /home/simmu/Desktop/ simbha_msgs/ ``` but its not working as expected.
I tried with cpp node as well but that is also not working. It wont give any error or warnings.
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Rosserial nodes not starting after last update
I just ran a ROS package update on my Ubuntu 16.04 system, and now none of my rosserial serial_node.py instances are starting.
My launch file is like:
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