[ros-users] Announcing rosserial

Andrew Harris andrew.unit at gmail.com
Sun Jul 17 14:18:01 UTC 2011


   As the maintainer of one of the "old-school" Arduino connectivity
packages called "pmad", this sounds quite elegant.  Does this package
create a new topic transport like "UDPROS", or "TCPROS" that is
negotiated during subscriptions?  Just curious.

best regards,

On Fri, Jul 15, 2011 at 7:12 PM, Adam Stambler <adasta at gmail.com> wrote:
> Hi
> 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
> though.
> 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.
> Cheers,
> Adam
> 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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