[ros-users] Announcing rosserial

Adam Stambler adasta at gmail.com
Fri Jul 15 23:12:12 UTC 2011


As the author of avr_bridge, I am happy it has served you well!  I have been
working with Mike on rosserial and can say it should be even better for your
purposes.  There is now time synchronization, float support, Arduino IDE
support,  and a far more robust protocol.  I am no longer going to be
supporting avr_bridge as a result. It is an easy transition to rosserial

You are right about the trigonometry on the avr being a bit much.  We are
expecting folks to use it only when they publish at a slow rate on the AVR.
However, there is no reason why you couldn't run rosserial on Maple (an ARM
based arduino) and do all the trig you need for TF.

Anyway, if you have any suggestions or problems with rosserial, let us know.


On Fri, Jul 15, 2011 at 3:03 PM, Dariush Forouher <
forouher at iti.uni-luebeck.de> wrote:

> On 15.07.2011 19:36, Michael Ferguson wrote:
> > We would like to announce the first release of a new rosserial library
> > for the Arduino platform.  The rosserial library allows Arduinos to
> > directly publish and subscribe to ROS messages. There are also demos
> > ranging from controlling servos to using an Arduino and rxplot as an
> > oscilloscope to reading temperature sensors into ROS.
> >
> > In addition to support integration with the Arduino platform, the
> > rosserial library provides a general point-to-point transport for ROS
> > communication over serial, which is intended for hardware that cannot
> > support the full ROS TCP/IP network stack.  This library can be used to
> > easily integrate a wide-variety of low-cost hardware into ROS.
> Very interesting, thanks!
> Compared to avr_bridge I really like the time synchronization feature
> and omiting the code generation process.
> I also see that you implemented a tf broadcaster. Your tutorials suggest
> to implement a broadcaster of odometry transforms in the atmega. Did you
> try this? I'm a bit sceptical of doing trigonometric operations on an
> atmega, especially on floats.
> I'm currently using avr_bridge and am quite happy with it. I'm doing all
> math stuff (integrating odometry velocity over time; creating point
> clouds from ultrasound data) in python, however.
> ciao
> Dariush
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