ROSserial test in the arduino board

1. Check your test enviroment (all example for Ubuntu14.04LTS & ROS Indigo)

• Ubuntu OS 14.04LTS+

  https://www.ubuntu-tw.org/modules/tinyd0/

• ROS Indigo installed

  http://wiki.ros.org/indigo/Installation/Ubuntu

• Installing and Configuring Your ROS Environment

  http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

• Arduino Install

  https://www.arduino.cc/en/Main/Software

• Install ROSSerial Package

  http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

• create ROS package (ex. mega2560_test)

  http://wiki.ros.org/ROS/Tutorials/CreatingPackage

• cooking launch file (ex. test.launch)

<?xml version="1.0"?>

<launch>
<!-- run serial node for base mega -->    
    <node pkg="rosserial_python" type="serial_node.py" name="serial_node">
            <param name="port" value="/dev/ttyACM0"/>
            <param name="baud" value="57600"/>
      </node>

2. Download arduino source code which has ROSserial node program.

• GITHUB：https://github.com/Muchun-Yen/Driving-Wheel-Hub-Motor-with-Arduino/blob/master/mega_base.ino

3. Executing ROS test

• Open Terminator key

   $ test.launch
  

• Check is there any error about the rosserial.

• Change baudrate and test again

   <param name="port" value="/dev/ttyACM1"/>
   <param name="baud" value="1000000"/>
  

4. Multi-board test launch

• Create python files

  cp ~/catkin_ws/src/rosserial/rosserial_python/nodes/serial_node.py ~/catkin_ws/src/rosserial/rosserial_python/nodes/serial_node1.py
  

• modified the test launch (ex. test2boards.launch)

<?xml version="1.0"?>

<launch>
<!-- run serial node for base mega -->    
    <node pkg="rosserial_python" type="serial_node.py" name="serial_node">
            <param name="port" value="/dev/ttyACM0"/>
            <param name="baud" value="57600"/>
      </node>
    <node pkg="rosserial_python" type="serial_node1.py" name="serial_node1">
            <param name="port" value="/dev/ttyACM1"/>
            <param name="baud" value="1000000"/>
      </node>

</launch>

• Check is there any error about the rosserial.