- Flash
pyserial.ino
onto Arduino - Make sure the right port is opened in
write_to_serial.py
node - colcon build the serialcomm package in a workspace
ros2 run serialcomm serialwriter_exec
ros2 topic pub /drill_commands std_msgs/String "data: 'drill'" -1
- This turns pin 13 LED on,
'stop'
will turn it off. - Connec the relay inputs to pin 13, and the drill will be powered by writing to drill commands topic.
- To integrate with manipulator, the lbr node needs to write to that topic, that's it
-
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