Difference between revisions of "ROS Raspberry Pi Demo"
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= References = | = References = | ||
| − | + | * [http://www.german-robot.com/2016/05/26/raspberry-pi-sd-card-image/ Raspberry Pi 3 Ubuntu Mate Xenial 16.04 with ROS Kinetic image] | |
| + | * [https://github.com/matpalm/ros-motorhat-node ROS motor controller node for Adafruit motor HAT IE 2348] | ||
| + | * [https://www.adafruit.com/product/2348 Adafruit motor HAT specs] | ||
| + | * [https://learn.adafruit.com/adafruit-dc-and-stepper-motor-hat-for-raspberry-pi Adafruit motor HAT documentation] | ||
| + | * [https://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup/configuring-i2c Adafruit configuring I2C on Raspberry Pi] | ||
| + | * [http://wiki.ros.org/ROS/Tutorials ROS Tutorials] | ||
| + | * [http://www.robopgmr.com/?p=4281 tf] | ||
| − | + | = Execution = | |
| − | + | ||
| − | + | Demo the ROS installation. | |
| − | + | ||
| − | + | terminal 1 | |
| − | + | ||
| − | + | roscore | |
| − | + | ||
| − | + | terminal 2 | |
| − | + | ||
| + | cd catkin_ws/ | ||
| + | source devel/setup.bash | ||
| + | rosrun motor_hat motor_hat_node | ||
| − | + | terminal 3 | |
| − | + | rosnode list | |
| − | + | rostopic list | |
| + | rostopic echo cmd | ||
| + | |||
| + | terminal 4 | ||
| + | |||
| + | cd catkin_ws/ | ||
| + | source devel/setup.bash | ||
| + | rosrun motor_hat stop.py | ||
| + | rosrun motor_hat on.py | ||
| + | |||
| + | TBD - QUESTION - Why isn't the message often not received by the motor_hat_node? | ||
| + | |||
| + | = Code Inspection = | ||
| + | |||
| + | The next line can be added to ~/.bashrc. | ||
| + | source ~/catkin_ws/devel/setup.bash | ||
| + | |||
| + | roscd hat_node | ||
| + | pwd | ||
| + | cd src | ||
| + | ls | ||
| + | |||
| + | Look at the code | ||
| + | |||
| + | emacs on.py& | ||
| + | emacs motor_hat_node_cpp& | ||
| + | |||
| + | If emacs isn't installed use nano. | ||
| + | |||
| + | nano on.py | ||
Latest revision as of 20:20, 24 February 2017
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
- tf
Execution
Demo the ROS installation.
terminal 1
roscore
terminal 2
cd catkin_ws/ source devel/setup.bash rosrun motor_hat motor_hat_node
terminal 3
rosnode list rostopic list rostopic echo cmd
terminal 4
cd catkin_ws/ source devel/setup.bash rosrun motor_hat stop.py rosrun motor_hat on.py
TBD - QUESTION - Why isn't the message often not received by the motor_hat_node?
Code Inspection
The next line can be added to ~/.bashrc.
source ~/catkin_ws/devel/setup.bash roscd hat_node pwd cd src ls
Look at the code
emacs on.py& emacs motor_hat_node_cpp&
If emacs isn't installed use nano.
nano on.py
