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https://github.com/wisehackermonkey/servo-mover-ros-node
https://github.com/wisehackermonkey/servo-mover-ros-node
Last synced: 1 day ago
JSON representation
- Host: GitHub
- URL: https://github.com/wisehackermonkey/servo-mover-ros-node
- Owner: wisehackermonkey
- License: mit
- Created: 2021-02-24T18:15:32.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2021-03-29T01:25:11.000Z (almost 4 years ago)
- Last Synced: 2024-11-10T12:44:25.528Z (about 2 months ago)
- Language: CMake
- Size: 64.5 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# servo-mover-ros-node
----
[](https://github.com/ellerbrock/open-source-badges/)
[](https://opensource.org/licenses/MIT)
creates a simple ros node that controls two hoby servo motor's from a arduino
# Quick start
### __________________
# Summary
### - *[Contributors](#Contributors)*
### - *[License](#License)*
-----------------
# For developers
###
```bash
180 curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
181 cd bin/
182 ls
183 arduino-cli
184 export PATH="$HOME/bin:$PATH"
185 arduino-cli
186 cd ~/github/
187 ls
188 cd servo-mover-ros-node/
189 ls
190 arduino-cli config init
191 cd arduino/
192 arduino-cli sketch new Servo_control_v1
193* /
194 ls
195 arduino-cli sketch new ServoControl_v1
196 arduino-cli sketch new ServoControl_v2
197 ls
198 cd ServoControl_v
199 cd ServoControl_v1
200 ls
201 arduino-cli core update-index
202 arduino-cli board list
203 arduino-cli board listall arduino:avr:uno
204 arduino-cli board listall
205 arduino-cli core install arduino:avr
206 arduino-cli board list
207 arduino-cli board listall
208 $ arduino-cli compile --fqbn arduino:samd:mkr1000 MyFirstSketch
209 arduino-cli compile --fqbn arduino:avr:uno ServoControl_v1.ino
210 arduino-cli lib search ServoControl_v1.ino
211 arduino-cli lib search Servo
212 arduino-cli lib search Servo |less
213 arduino-cli lib search Servo | less
214 arduino-cli lib search Servo | more
215 arduino-cli lib search Servo.h
216 arduino-cli compile --fqbn arduino:avr:uno ServoControl_v1.ino
217 wget https://peppe8o.com/download/arduino_lib/Servo.zip
218 ls
219 unzip Servo.zip
220 ls
221 arduino-cli compile --fqbn arduino:avr:uno ServoControl_v1.ino
222 arduino-cli compile --fqbn arduino:avr:uno hello.ino
223 cd ..
224 arduino-cli compile --fqbn arduino:avr:uno hello
225* arduino-cli config dump[B
226 history
227 arduino-cli compile --fqbn arduino:avr:uno hello
228 arduino-cli compile --fqbn arduino:avr:uno ServoControl_v1
229 arduino-cli lib search ros
230 arduino-cli lib search ros serial
231 arduino-cli lib search rosserial
232 arduino lib install [email protected]
233 arduino-cli lib install [email protected]
234 arduino-cli lib install "Rosserial Arduino Library"@0.7.9
235 ls
236 arduino-cli compile --fqbn arduino:avr:uno ServoControl_v1
237 history
```
###
```bash
roscore -v
rostopic
```
### setup ros node
```bash
cd ~/catkin_ws/src
catkin_create_pkg servo-mover-ros-node rospy std_msgs
cd ~/catkin_ws
catkin_make
source devel/setup.bash
rospack profile
roscd servo-mover-ros-node
mkdir scripts
roscd servo-mover-ros-node/scripts
touch servo_control.py
chmod +x servo_control.py
```
### install rosserial-arduino
```bash
sudo apt-get install ros-noetic-rosserial-arduino
sudo apt-get install ros-noetic-rosserial
```
```bash
rosrun servo-mover-ros-node scripts/servo_control.py
ERROR :
```
### fix error
#### "CMakeLists.txt"
```cmake
catkin_install_python(PROGRAMS scripts/servo_control.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
```
### Window 1
```bash
cd ~/catkin_ws
source ~/catkin_ws/devel/setup.bash
rospack find servo-mover-ros-node
catkin_make
rosrun rosserial_python serial_node.py /dev/ttyACM0
rosrun servo-mover-ros-node servo_control.py
```
### Window 2
```bash
rostopic list
----------------
ubuntu@reachy:~/catkin_ws$ rostopic list
/head_servo_position
/rosout
/rosout_agg
----------------
rostopic echo /head_servo_position
```
```bash
cd ~/catkin_ws/src
git clone https://github.com/wisehackermonkey/servo-mover-ros-node.git
cd servo-mover-ros-node
arduino-cli compile --fqbn arduino:avr:uno arduino/ServoControl_v1
arduino-cli board list
cd ./arduino
arduino-cli upload -v -p /dev/ttyACM0 --fqbn arduino:avr:uno ServoControl_v1
rosrun servo-mover-ros-node servo_control.py
-----------------
ubuntu@reachy:~/github/servo-mover-ros-node/arduino$ rosrun servo-mover-ros-node servo_control.py
servo_mover: Running
-----------------
```
### window 2
```bash
rostopic list
-------------
ubuntu@reachy:~/catkin_ws$ rostopic list
/head_servo_position
/rosout
/rosout_agg
--------------
rostopic echo /head_servo_position
```
```bash
rosrun servo-mover-ros-node servo_control.py
arduino-cli upload -v -p /dev/ttyACM0 --fqbn arduino:avr:uno ServoControl_v1
rosrun servo-mover-ros-node servo_control.py
rostopic list
```
### view serial monitor with arduino-cli
#### Note: CTRL-C is exit
```bash
stty -F /dev/ttyACM0 raw 115200;cat /dev/ttyACM0
```
-----------------
## upload arduino code ServoControl_v2.ino
[Run multiple servo on ROS with arduino. - ROS Answers: Open Source Q&A Forum](https://answers.ros.org/question/145951/run-multiple-servo-on-ros-with-arduino/?answer=218998?answer=218998#post-id-218998)
[ServoControl with two or more servos on arduino rosserial - ROS Answers: Open Source Q&A Forum](https://answers.ros.org/question/212611/servocontrol-with-two-or-more-servos-on-arduino-rosserial/)
```bash
rosrun rosserial_python serial_node.py /dev/ttyACM0
rostopic pub /head/neck_pan_goal std_msgs/UInt16 && rostopic pub servo2 std_msgs/UInt16
rostopic pub /head/neck_pan_goal std_msgs/UInt16 0 && rostopic pub servo2 std_msgs/UInt16 180
```
### how to create launch files
```bash
mkdir launch
cd launch
nano head_sero_mover.launch
or
code head_sero_mover.launch
```
### debugging
```bash
rostopic list
rostopic echo /head/neck_pan_goal
rostopic info /head/position_animator
rostopic pub /head/position_animator
rostopic pub /head/position_animator sensor_msgs/JointState '{position: [1.0, -1.2]}'
```
### Run node
#### note all of these are in sepeart windows
```bash
# term 1
rostopic echo /head/neck_pan_goal
# term 2
python3 ./servo-mover-ros-node/scripts/servo_control.py
# term 3
# outdated
# rostopic pub /head/position_animator sensor_msgs/JointState '{position: [1.0, 2.0]}'
# rostopic pub /head/position_animator sensor_msgs/JointState '{position: [180.0, 180.0]}'
# rostopic pub /head/position_animator sensor_msgs/JointState '{position: [180.0, 180.0]}'
# this moves the head from -90 degrees (-1.570796) to posiive 90 degrees
rostopic pub /head/position_animator sensor_msgs/JointState '{position: [-1.570796, 1.570796]}'
```
# Contributors
[](https://github.com/wisehackermonkey/servo-mover-ros-node/graphs/contributors)
##### Made with [contributors-img](https://contrib.rocks).
-----------------
# License
#### MIT © wisehackermonkey
[](https://opensource.org/licenses/MIT)
```bash
by oran collins
github.com/wisehackermonkey
[email protected]
______________________
```