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https://github.com/neuro-mechatronics-interfaces/ros2_reward_dispenser
A ROS2 node that communicates with a microcontroller running the 'Serial-Relay' code
https://github.com/neuro-mechatronics-interfaces/ros2_reward_dispenser
arduino nhp python ros2 serial
Last synced: 12 days ago
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A ROS2 node that communicates with a microcontroller running the 'Serial-Relay' code
- Host: GitHub
- URL: https://github.com/neuro-mechatronics-interfaces/ros2_reward_dispenser
- Owner: Neuro-Mechatronics-Interfaces
- Created: 2022-12-23T16:35:10.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2023-12-07T16:41:29.000Z (about 1 year ago)
- Last Synced: 2023-12-07T17:49:21.570Z (about 1 year ago)
- Topics: arduino, nhp, python, ros2, serial
- Language: Python
- Homepage:
- Size: 40 KB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# ROS2_Reward_Dispenser
A ROS2 node that communicates with a microcontroller running the 'Serial-Relay' code. Part of the Delta task workspace.
## Installation
Make sure [ROS2 Galactic](https://docs.ros.org/en/galactic/Installation/Windows-Install-Binary.html) or a newer ROS2 distribution is installed on your PC, as well as Python >=3.8, and the [Arduino IDE](https://www.arduino.cc/en/software)
You will need to install some python packages using [pip](https://pip.pypa.io/en/stable/) if the dependencies aren't already met:
```
pip install pyserial bluetooth asyncio
```
You may need 3 additional libraries to run the sketch with the weight sensing and LED matrix display: `MD_Parola`, `MD_MAX72XX`, and `Queuetue HX711 Library`. These libraries can be installed using the built-in Library Manager from the `Tools > Manage Libraries` menu:
- Queuetue HX711
- MD_MAX27XX
- MD_Parola
Clone the repository in your ros workspace, build with colcon, finally source
```
cd /path/to/ros/workspace/src
git clone https://github.com/Neuro-Mechatronics-Interfaces/ROS2_Reward_Dispenser.git src/ros2_reward_dispenser
colcon build --packages-select reward_dispenser
```
+ For Windows 10 source using `call install/local_setup.bat`
+ For UBuntu use `source install/setup.bash`
Use the [Arduino IDE](https://www.arduino.cc/en/software) to flash the accompanied `serial_relay_scale_LEMatrix.ino` script onto the microcontroller.
#### Device Permissions
Device permissions may also need to be set up if interfacing with a USB device for the first time. Add the user to the `dialout` and `tty` groups:
```
sudo usermod -a -G dialout your-username
sudo usermod -a -G tty your-username
sudo chmod a+rw /dev/ttyACM*
```
If using the ROS2 node, note the COM port assigned to it for the config file.
## Quick Start ##
To quickly run the node, enter the following command in the terminal:
```
ros2 run reward_dispenser node
```
The default serial port is set to `/dev/ttyACM0` but is also a configurable parameter. To define a specific port or baudrate, pass it as an argument:
```
ros2 run reward_dispenser node --ros-args -p port:=/dev/ttyACM0 -p baud:=9600
```
The parameters can also be defined using the provided example `.yaml` file and passed as an argument:
```
ros2 run reward_dispenser node --params-file ~/ros2_ws/src/ros2_reward_dispenser/reward_dispenser/config/reward.yaml
```
The reward dispener node is monitoring a topic called `manual_dispense` which will send a 200ms dispense command whenever a new boolean value is published to it.
## Troubleshooting ##
- If you get the `ImportError: You must be root to use this library on linux` error message [issue](https://github.com/boppreh/keyboard/issues/420), you may need to run the node with admin privilidges. Adding the current user to sudo is an option that should fix it, another option is to create device rules:
```
pip install git+https://github.com/boppreh/keyboard.git#egg=keyboard
sudo usermod -a -G tty,input $USER
sudo chmod +0666 /dev/uinput
echo 'KERNEL=="uinput", TAG+="uaccess""' > /etc/udev/rules.d/50-uinput.rules
echo 'SUBSYSTEM=="input", MODE="0666" GROUP="plugdev"' > /etc/udev/rules.d/12-input.rules
echo 'SUBSYSTEM=="misc", MODE="0666" GROUP="plugdev"' >> /etc/udev/rules.d/12-input.rules
echo 'SUBSYSTEM=="tty", MODE="0666" GROUP="plugdev"' >> /etc/udev/rules.d/12-input.rules
loginctl terminate-user $USER
```
If you get an error message relating to the user not being in the `input` group, run the following command to add user to the required group.
```
sudo usermod -a -G input USERNAME
```