GPIO_output package

This is a ROS wrapper for BlueRobotics Screw, Gripper and Sonar.

In addition, this package assumes connecting a screw and gripper to Rasberry Pi GPIO, and snonar to USB. Please refer to the following sites for parts installation and circuit wiring.

• Screw (use 13pin)

  • https://bluerobotics.com/store/thrusters/t200-thruster/

• Gripper (use 18pin)

  • https://bluerobotics.com/store/rov/bluerov2/newton-gripper-asm-r1-rp/

• Sonar (use USBserial port)

  • https://bluerobotics.com/store/sensors-sonars-cameras/sonar/ping-sonar-r2-rp/
  • https://github.com/bluerobotics/ping-python

How to use it (ROS set up)

Step0 : ssh conection to Rasberrypi.

$ ssh pi@ip_adress_of_your_raspi
type passward

Step1 : change directory and gitclone this repository．

$ cd ~/your_ws/src
$ gitclone https://github.com/kumahika/GPIO_output

Step3 : build(In the case of 'catkin_make')

$ cd ~/your_ws/
$ catkin_make

Step4 : Grant execute permission

$ cd ~/your_ws/src/GPIO_output/src
$ chmod +x screw_sub.py
$ chmod +x gripper.py
$ chmod +x sonar_pub.py

Step5 : Run a screw node if the build is successful.

$ cd ~/your_ws/
$ source devel/setup.bash
$ rosrun GPIO_output screw_sub.py

Step6 : Run multi nodes using roslaunch.

$ roslaunch GPIO_output act3.launch

Step7 debug

Check all topics

$ rostopic list
/gripper/pwm
/rosout
/rosout_agg
/screw/pwm
/sonar/confidence
/sonar/distance
/sonar/ping_interval
/sonar/ping_number
/sonar/scan_length
/sonar/scan_start
/sonar/speed_of_sound
/sonar/transmit_duration
/sonar/voltage

Screw operation test

$ rostopic pub /screw/pwm std_msgs/Int64 -- '3'
ON OF
mid

Gripper operation test

$ rostopic pub /gripper/pwm std_msgs/Int64 -- '3'
Open and Close
mid

Rosparam setting

You can set up pwm duty and duration of screw and gripper. Execute the following code or specify options in the launch file.

$ rosparam set /screw_subscreiber/duration_screw '2' # unit is sec
$ rosparam set /duration_gripper '2' # unit is sec
$ rosparam set /screw_subscreiber/pwm_screw '100' # You can set duty between -100 and 100.