This package builds a rosserial compatible USB servo controller from an Arduino Micro.
The rosserial node provides /servo/control and /servo/control_raw subscribers which receive target positions (relative positions (-1000 to 10000) or absolute pulse widths (in µs)) for the different servos.
- ROS. I used Melodic Morenia on Ubuntu 18.04 LTS, but other versions might work too.
- rosserial_arduino.
- Arduino IDE. I used version 1.8.8. Other versions might work too, but the one included in Ubuntu 18.04 LTS doesn't.
- arduino-cmake. I forked the repository and added a patch to use
avr-gccandavr-g++from the Arduino IDE rather than the one provided with Ubuntu 18.04 LTS.
The (patched) arduino-cmake dependency is included as git submodules.
Include the package in a ROS workspace. Both building (messages, firmware...) and uploading the firmware is done using catkin_make.
Due to some internal details of rosserial_arduino's make_libraries.py script, building the package isn't as straightforward as I would like it to be. The problem is that to create our custom messages in the Arduino ros_lib library, rosserial_arduino's make_libraries.py script needs to source the workspace's setup script, which isn't available until the build is finished. See [ros-drivers/rosserial#239] for more details. The most elegant workaround I found is to exclude the firmware from the default catkin_make (or CMake) target and build it manually afterwards.
So, to build the package including the firmware for the Arduino Micro, run:
catkin_make -DARDUINO_SDK_PATH=/opt/arduino-1.8.8(to build everything except the firmware). ./devel/setup.bash(or the setup script for your favourite shell)catkin_make ros_servo_controller_firmware_arduino_micro(to build the firmware)catkin_make ros_servo_controller_firmware_arduino_micro-upload(to upload the firmware to your Arduino Micro)
...
MIT license, see LICENSE.md for details.
Git submodules:
- arduino-cmake: Unknown