Latest revision as of 20:20, 24 February 2017

References

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?

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

@@ Line 7: / Line 7: @@
 *  [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]
-= Motor Hat Node Installation =
-These steps have been completed for the catkin_ws dir. I'm starting from
-scratch for completeness and I don't want to mess up my working catkin_ws
-== Create the Workspace ==
-  cd
-  mkdir -p catkin_demo/src
-  cd catkin_demo/
-  ls
-  catkin_make
-  ls
-  cd src
-== Download the motor hat SW ==
-  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 ==
-  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
 = Execution =
@@ Line 94: / Line 56: @@
    nano on.py
-= References =
-* [http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi ROS on Raspberry Pi]
-* [http://www.robopgmr.com/?p=4281 tf]