l2bot

ROS interface package for converting the output of /rb_drive/rb_drive/twist_cmd to a motor controller command and sending it to an L2Bot.

Installation

Contents (details below):

1. Setup a ROS workspace
2. Install Arduino IDE and ROS support
3. Clone this repo into your workspace
4. Upload the motor controller sketch to the Arduino
5. Point the ROS node to your board

1. Setup Workspace

If you haven't already, create a catkin workspace.

$ mkdir -p ~/l2bot_ws/src
$ cd ~/l2bot_ws/src

2. Arduino

1. Download and install the Arduino IDE.
2. Open the IDE and close it once it has finished launching. (This creates all the scketchbook directories on your system)
3. Add serial write permissions. Run sudo usermod -a -G dialout <UNAME> where <UNAME> is your username.
4. Restart Computer
5. Install ROS Support (see below)

Installing ROS Support

Arduino Setup

Make sure to replace indigo with kinetic when executing commands. For example, if the pages says to run the command

sudo apt-get install ros-indigo-rosserial-arduino

then you should run the command

sudo apt-get install ros-kinetic-rosserial-arduino

3. ROS

Clone this repository into the src directory.

~/l2bot_ws/src$ git clone https://github.com/LTU-AutoEV/l2bot.git

Run catkin_make from the workspace directory.

~/l2bot_ws/src$ cd ..
~/l2bot_ws$ catkin_make
~/l2bot_ws$ source devel/setup.bash

Install dependencies

~/l2bot_ws$ rosdep install --from-paths src --ignore-src -r -y

4. Load The Interface onto the Arduino

1. Open the Arduino IDE
2. File > Open - Open the file L2Bot_MC.ino located at ~/l2bot_ws/src/arduino/L2Bot_MC/
3. Plug in the Arduino and turn on the L2Bot
4. Tools -> Port -> (Select your arduino device)
5. Upload to arduino

5. Identify Your Arduino Board

1. Plug in your Arduino and turn on the L2Bot
2. Execute the detect_arduino.py script

l2bot_ws/src/l2bot$ ./detect_arduino.py

Topics

Published topics for internal use

• std_msgs::UInt16 on /L2Bot/mc: Motor controller instruction for the l2bot