haruto-msgs

Repo for customized ros messages

Command msg

PWM signal to be sent to Motor driver for controller the speed. Recieved by arduino controller

Encoder msg

Feedback to be recieved from Arduino controller. Ticks counted from encoders on all four motors

Pid msg

PID parameters for error correction on four motors of the robot (Managed at ROS level)

Velocity msg

Feedback information of expected and actual velocities

How to sync ROS messages with arduino

rosrun rosserial_client make_libraries /home/santosh/snap/arduino/56/Arduino/libraries haruto_msgs