After having installed Ros Serial on my Linux computer, I am doing a simple test.
Om my Windows PC, I have configured my Arduino-Due as follows in the tools menu:
- Board: Arduino Native USB port
- Port: COM5 Programming port
My Arduino code:
#include <ros.h>
#include <std_msgs/String.h>
ros::NodeHandle nh;
std_msgs::String str_msg;
ros::Publisher fromArduino("fromArduino", &str_msg);
char hello[19] = "hello from Arduino";
void setup()
{
Serial.println("entering setup");
nh.initNode();
nh.advertise(fromArduino);
}
void loop()
{
Serial.println("in the loop");
str_msg.data = hello;
fromArduino.publish( &str_msg );
nh.spinOnce();
delay(1000);
}
On the Linux computer I have coded a subscriber and publisher as follows:
#include <ros/ros.h>
#include "std_msgs/String.h"
#include <stdlib.h>
#include <iostream>
std::stringstream s;
//callback handler:
void onReceiveString(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("\n received string: [%s] \n", msg->data.c_str());
}//end call back
//Main:
int main(int argc, char** argv)
{
printf("entering main \n");
//ROS inits:
ros::init(argc, argv, "test_node");
ros::NodeHandle nh;
ros::Publisher test_pub = nh.advertise<std_msgs::String>("toArduino", 50);
ros::Rate loop_rate(10);
ros::Subscriber sub = nh.subscribe("fromArduino", 1000, onReceiveString);
//ROS loop for publishing:
int count = 0;
while(ros::ok())
{
std_msgs::String msg;
msg.data = "hello to arduino\n";
ROS_INFO("%s", msg.data.c_str());
test_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}//end while()
return 0;
}//end main()
I checked the port with: dmesg | grep tty, and: "/dev/ttyACM0" came up correctly
I compiled and ran my program the usual way (not forgetting to add: /dev/ttyACM0 at the end of the rosrun command).
I entered: rostopic list. My topics: /fromArduino and /toArduino appeared correctly.
However, when I enter: rostopic echo /fromArduino nothing comes. No errors, no messages.
Anyone can tell if I forgot something?