minho_team_lowlevel

Full ROS Support

This node, although running in Arduino, has full ROS Support using rosserial and ros_lib. To run the node, one has to plugin in the arduino box and run $ rosrun rosserial_pyhton serial_node.py /dev/ttyACM*

• Subscribers: - [x] controlInfo - Send control commands to platform - [x] teleop - Enable/Disbale teleoperation
• Publishers:
  • hardwareInfo - Send info about platform's peripherials
• Services:
  • requestResetEncoders - Reset the value of all 3 encoders
  • requestResetIMU - Reset IMU's 0º reference value
  • requestSetOmniProps - Set OMNI 3MD's PID and RAMP
    • Send is_set = true to set, is_set = false to get current config on response.
    • Send omniConf.* = >0 to change a property. omniConf.x = 0 wont change.
    • Current configuration will be returned in any case.
  • requestIMULinTable- Set IMU linearization table
    • Send is_set = true to set, is_set = false to get current config on response.
    • Send imu_values as "[val1,val2...]"
    • Current configuration will be returned in any case.

Baudrate 57600

Timeout 200ms

##Installation

• $ sudo chmod 777 install
• $ ./install

##Upload to board

• $ sudo chmod 777 upload
• $ ./upload