Cylon ROS Driver For GPIO

Cylon.js (http://cylonjs.com) is a JavaScript framework for robotics, physical computing, and the Internet of Things (IoT).

This module provides drivers for General Purpose Input/Output (GPIO) devices (https://en.wikipedia.org/wiki/General_Purpose_Input/Output) in ROS (http://www.ros.org/). Thus by pub/sub a topic in ROS, you can control the GPIO devices by creating the according drivers in Cylon.JS.

It must be used along with an adaptor module such as intel-iot (https://github.com/hybridgroup/cylon-intel-iot) that supports the needed interfaces for GPIO devices.

Getting Started

Note you must install whichever adaptor you want to use, such as: npm install cylon-intel-iot. Also, you have to confirm below:

• You have to become a superuser when executing node in order to WRITE in path /sys/class/gpio
• Make sure you have all necessary ROS environment variables for the superuser. Often, you can source the .bash file like:

  $ source /opt/ros/indigo/setup.bash

Example

In ROS, create a node which will publish a topic, named toggle_led, every one second.

var rosnodejs = require('rosnodejs');

rosnodejs.initNode('/my_node', {
  messages: ['std_msgs/String']
}).then((rosNode) => {
  var std_msgs = rosnodejs.require('std_msgs').msg;
  var msg = new std_msgs.String();
  var pub = rosNode.advertise('/toggle_led','std_msgs/String', {
    queueSize: 1,
    latching: true,
    throttleMs: 9
  });

  setInterval(() => {
    msg.data = 'toggle LED';
    pub.publish(msg);
  }, 1000);
});

On the Clyon side, create a LED device which will use the driver ros-led in module cylon-ros-gpio and the adaptor intel-iot is being used.

var Cylon = require('cylon');

// Initialize the robot
Cylon.robot({
  connections: {
    minnowboard: { adaptor: 'intel-iot' }
  },

  devices: {
    led: { driver: 'ros-led', module: 'cylon-ros-gpio', pin: 25 },
  },

  work: function(my) {
  }
}).start();

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