Hello ROS Fans,
I would like to announce a new stack for controlling an
Arduino-based robot with ROS. The documentation can be found at:
http://www.ros.org/wiki/ros_arduino_bridge
The stack includes a base controller for a differential drive robot
as well as support for reading sensors and controlling PWM servos.
The code does *not* depend on rosserial.
The packages have been tested against the ROS navigation stack
(Electric) using a Pololu motor
controller and Robogaia
encoder shield.
This stack comes out of a discussion amongst members of the Home
Brew Robotics Club (HBRC) for extending ROS support to hobby-level
robots using inexpensive and easily obtained hardware. The code was
inspired by Michael Ferguson's ArbotiX drivers and borrows heavily
from it. (Thanks Fergs!)
--patrick
http://www.pirobot.org
& http://hbrobotics.org