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Hi<br>
<br>
first of all, this is the type of question that should be asked on
the ros answers site.<br>
<br>
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...<br>
<br>
Brice<br>
<br>
<br>
<br>
<div class="moz-cite-prefix">On 09/03/2014 10:43 AM, Walter "Myzhar"
Lucetti wrote:<br>
</div>
<blockquote
cite="mid:CAN2Z0Tdw7NTGnY+h0Q_Ks-oZsMqQRGbCPs5_=FsnKfc4V8=pyA@mail.gmail.com"
type="cite">
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<div>Hi all,</div>
<div><br>
</div>
<div>I know ROS since its born, but I never wrote a line of
code for it.</div>
<div>It's time to start to move my robot to ROS.</div>
<div><br>
</div>
<div>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.</div>
<div><br>
</div>
<div>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.</div>
<div><br>
</div>
<div>That's all... suggestions?</div>
<div><br>
</div>
<div>Thank you</div>
<span class="HOEnZb"><font color="#888888">
<div>Walter</div>
<div><br>
</div>
</font></span></div>
</div>
-- <br>
<div dir="ltr"><b>Walter "Myzhar" Lucetti</b><br>
<br>
email <a moz-do-not-send="true"
href="mailto:myzhar@robot-home.it" target="_blank">myzhar@robot-home.it</a><br>
<div>web: <i><a moz-do-not-send="true"
href="http://www.robot-home.it/" target="_blank">www.robot-home.it</a> - <a
moz-do-not-send="true" href="http://www.opencv.it/"
target="_blank">www.opencv.it</a></i><br>
</div>
<div>project: <a moz-do-not-send="true"
href="http://myzharbot.robot-home.it/" target="_blank">http://myzharbot.robot-home.it</a></div>
</div>
</div>
<br>
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