[ros-users] Fwd: A newbie question...

Brice Rebsamen brice.rebsamen at gmail.com
Wed Sep 3 18:08:26 UTC 2014


first of all, this is the type of question that should be asked on the 
ros answers site.

Nevertheless, here is my suggestion. One way to approach this is to 
write a ROS node that would wrap your current driver for that board. All 
of what your board receives and transmits, map it to some messages 
(using standard ROS messages as much as possible), and publish / 
subscribe to them. The main keyword in that is "wrap". Read about ROS 
publishing and subscribing concepts and look at the existing messages. 
This could be very easy...


On 09/03/2014 10:43 AM, Walter "Myzhar" Lucetti wrote:
> Hi all,
> I know ROS since its born, but I never wrote a line of code for it.
> It's time to start to move my robot to ROS.
> The question is simple: the low level core of the robot is a motor 
> control board that uses modbus-rtu as protocol, I would like to know 
> which could be the right way to implement the node that communicates 
> with it.
> The board must publish a message about robot status at 30hz (motor 
> speeds, motor PWMs, battery status, ecc) and must be able to receive 
> speed commands (motors speed or motor PWM) and configuration commands.
> That's all... suggestions?
> Thank you
> Walter
> -- 
> *Walter "Myzhar" Lucetti*
> email myzhar at robot-home.it <mailto:myzhar at robot-home.it>
> web: /www.robot-home.it <http://www.robot-home.it/> - www.opencv.it 
> <http://www.opencv.it/>/
> project: http://myzharbot.robot-home.it <http://myzharbot.robot-home.it/>
> _______________________________________________
> ros-users mailing list
> ros-users at lists.ros.org
> http://lists.ros.org/mailman/listinfo/ros-users

-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20140903/cdcd8fb0/attachment.html>

More information about the ros-users mailing list