[ros-users] ROS - Where to start/viable options etc

Andrew Harris andrew.unit at gmail.com
Thu Nov 18 17:57:16 UTC 2010

Hi Bence,

   I have written a very simple Arduino ROS interface node.  It's called "pmad":


   It basically has a service that allows you to toggle digital pins.
In addition, there is a publisher node called
"pmad_status_publisher.py" that will send a command to the Arduino to
get the current status of digital pins 4, 5, 6, 7 as well as analog IO
pins 0, 1, 2, and 4.  The messaging protocol used to and from the
arduino is simple and there are comments in the Arduino sketch.

   This may not be what you want, but it might be a start.


On Wed, Nov 10, 2010 at 7:18 AM, Bence Magyar <mw.mzperx at gmail.com> wrote:
> Hi,
> I'm also still learning to use ROS with the higher goal of getting an
> Arduino system work with it. I'm experiencing with ROS using a Lego NXT, I'd
> recommend using it to you as well. There are a quite nice stack for it and
> after you managed to get do all you need you'll just have to take a look at
> how the guys made the "drivers".
> For "Hello ROS" there is a tutorial at
> http://www.ros.org/wiki/ROS/StartGuide or for the NXT at
> http://www.ros.org/wiki/nxt .
> Good luck with them :)
> Regards,
> Bence Magyar
> 2010/11/10 mark <mark at mxnet.f2s.com>
>> Hi Group,
>> Just looking for some advise here on how I can best use ROS
>> Where I am now:
>>         At the moment I've hand crafted s/w. It's broken up into two main
>> parts - the lower level stuff (Running on a SH7032 chip) to control the
>> robot's hardware and communicate with the host system, all reactive
>> behaviours (avoid, escape et al). And the Host system higher level functions
>> (Navigation, Path planning, Mapping etc). More info at
>> http://toeminator.com/Toeminator/ToeminatorIndex.htm
>> Wants:
>>         I'm looking to experiment with the ROS, the point I'd like to get
>> to is have a visual UI of my robots environment, ideally using SLAM (I'm not
>> sure what modules there are for sonar data?) and replicate the host side of
>> the system. To that end I wondered if anyone could give me some starting
>> points. I've had a quick look at the tutorials and loaded the s/w onto a
>> virtual box.
>> I would guess my simplest starting point would be to develop something
>> that would sit between the current server (Sends/receives data to/from the
>> robot) and the ROS. Which is where I get somewhat lost. What do I need to
>> develop? Is there a common ROS message format? What packages/modules should
>> I be looking to use to get something tangible up and running? Is there a
>> "Hello ROS" starting point I could usefully use. Or am I barking up the
>> completely wrong tree?
>> Many Thanks
>> Mark
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