Motot Hat Node Installation
From wikidb
Contents
References
- Raspberry Pi 3 Ubuntu Mate Xenial 16.04 with ROS Kinetic image
- ROS motor controller node for Adafruit motor HAT IE 2348
- Adafruit motor HAT specs
- Adafruit motor HAT documentation
- Adafruit configuring I2C on Raspberry Pi
- ROS Tutorials
- ROS on Raspberry Pi
Motor Hat Node Installation
Create the Project
A new image contains this directory.
cd ~/catkin_ws/ mkdir src cd src git clone https://github.com/matpalm/ros-motorhat-node
Rename the directory
It is less confusing if the motor hat directory matches the project name. The project name is in CMakeLists.txt.
ls more ros-motorhat-node/CMakeLists.txt mv ros-motorhat-node/ motor_hat
Build the motor hat node
Build should happen in the work directory (~/catkin_src/).
cd .. catkin_make ls devel/lib/motor_hat/
Setup the .bashrc file
Add the following to your ~/.bashrc
source /home/ubuntu/catkin_demo/devel/setup.bash
Configure I2C
Enable I2C
I2C is not enabled by default.
sudo i2cdetect -y 1 Error: Could not open file `/dev/i2c-1' or `/dev/i2c/1': No such file or directory
Edit the boot config file
cd /boot diff config.txt config.txt.org 1073,1075c1073 < dtparam=i2c1=on < dtparam=i2c_arm=on < --- > #dtparam=i2c_arm=off
Remove I2C from the black list
cd /etc/modprobe.d diff blacklist.conf blacklist.conf.org 29c29 < # blacklist i2c_i801 --- > blacklist i2c_i801
Start modules
Add a couple of modules to the boot start up list
cd /etc diff modules modules.org 6,7d5 < i2c-bcm2708 < i2c-dev
Install tools
Install the smbus and I2C tools.
sudo apt-get install -y python-smbus sudo apt-get install -y i2c-tools didn't install anything
Reboot
Test
Test I2C. We found port 60 and 70.
sudo i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: 70 -- -- -- -- -- -- --