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raspi_interface

Hardware interface for use of Raspberry Pi with ROS using bosch_drivers and wiringPi

This package is an additional hardware interface to work with the bosch_drivers architecture. It utilizes the awesome wiringPi library to access GPIOs, SPI, I2C and RS232. This package is still under heavy development.

current status:

  • I2C - implemented and tested on BMC050
  • GPIO - roughly tested
  • SPI - very roughly tested
  • RS232 - implemented but not working

Installation and Test

git clone git://git.drogon.net/wiringPi
cd wiringPi; ./build; cd ..
svn co http://svn.code.sf.net/p/bosch-ros-pkg/code/trunk/stacks/bosch_drivers
git clone https://github.com/kalectro/raspi_interface
rosmake raspi_interface
rosrun raspi_interface gpio_test