ROS Programming: Building Powerful Robots

Running ROS serial server on PC

After burning the code, to start subscribing or publishing to the Arduino board, we should start the ROS serial server on the PC side. Let's see how to do so:

1. Initialize roscore:

          $ roscore

2. Run the ROS serial server on the PC. The argument of the server is the serial device name of the Arduino device:

         $ rosrun rosserial_python serial_node.py /dev/ttyACM0

3. Now, you can see the /adc topic using the following command:

          $ rostopic list

4. You can echo the /adc topic using the following command:

          $ rostopic echo /adc/adc0

5. You may get following values:

Figure 10: Displaying LDR values from the ROS topic

We ...