Hellow all,
I'm trying to use rosserial with an Arduino UNO (or Duemilanove I have the sme problem with both of them) to retrieve informaion given by an IMU.
First I increased the message buffer size like this :
namespace ros
{
#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega168__)
/* downsize our buffers */
typedef NodeHandle_ NodeHandle;
#elif defined(__AVR_ATmega328P__)
// typedef NodeHandle_ NodeHandle;
typedef NodeHandle_ NodeHandle;
#else
typedef NodeHandle_ NodeHandle;
#endif
}
in ros.h in ros_lib **and** in the rosserial_arduino folder. This is because at first I had an error telling me the buffer size was to small.
Then I'm trying to publish a sensor_msgs::Imu through a publisher but It always fail. Here is the error message I have :
ros@ros-K56CM:~$ rosrun rosserial_python serial_node.py /dev/ttyUSB0
[INFO] [WallTime: 1397029727.199687] ROS Serial Python Node
[INFO] [WallTime: 1397029727.213908] Connecting to /dev/ttyUSB0 at 57600 baud
[ERROR] [WallTime: 1397029729.700241] Tried to publish before configured, topic id 30
[ERROR] [WallTime: 1397029744.688688] Lost sync with device, restarting...
[ERROR] [WallTime: 1397029745.117519] Tried to publish before configured, topic id 30
And then the arduino freeze. If I start the restart it, it runs again and freeze when serial_node.py asked for the publisher. I know it freeze because I make a led blink all the time and it stop blinking after the first error message.
Here is my code :
ros::NodeHandle nh;
sensor_msgs::Imu imu_msg;
ros::Publisher pub_imu( "/imu", &imu_msg);
char frameid[] = "/imu";
#define PIN 13
int flag;
void setup() {
//Serial.begin(57600);
nh.initNode();
nh.advertise(pub_imu);
imu_msg.header.frame_id = frameid;
imu_msg.header.stamp=nh.now();
pinMode(PIN,OUTPUT);
flag=0;
}
void loop() {
blinking();
delay(1000);
writeData();
pub_imu.publish(&imu_msg);
nh.spinOnce();
}
I'm not even doing any operation nor anything complexe so I'm really lost at what is my problem :S.
Furthermore, everything work fine with the ultrasonic example...
Any help will be appreciated. Thank you.
↧