Difference between revisions of "ROS Raspberry Pi Demo"

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(→‎Configure I2C)
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*  [http://wiki.ros.org/ROS/Tutorials ROS Tutorials]
 
*  [http://wiki.ros.org/ROS/Tutorials ROS Tutorials]
  
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= Motor Hat Node Installation =
 
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These steps have been completed for the catkin_ws dir. I'm starting from
 
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scratch for completeness and I don't want to mess up my working catkin_ws
 
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== Create the Workspace ==
 
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  cd
 
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  mkdir -p catkin_demo/src
 
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  cd catkin_demo/
 
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  ls
 
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  catkin_make
 
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  ls
 
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  cd src
 
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== Download the motor hat SW ==
 
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  git clone https://github.com/matpalm/ros-motorhat-node
 
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== Rename the directory ==
 
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It is less confusing if the motor hat directory matches the project name. The project name is in CMakeLists.txt.
 
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  ls
 
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  more ros-motorhat-node/CMakeLists.txt
 
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  mv ros-motorhat-node/ motor_hat
 
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== Build the motor hat node ==
 
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  cd ..
 
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  catkin_make
 
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  ls devel/lib/motor_hat/
 
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== Setup the .bashrc file ==
 
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Add the following to your ~/.bashrc
 
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  source /home/ubuntu/catkin_demo/devel/setup.bash
 
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== Configure I2C ==
 
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I2C is not enabled by default.
 
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  sudo i2cdetect -y 1
 
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    Error: Could not open file `/dev/i2c-1' or `/dev/i2c/1': No such file or directory
 
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Edit the boot config file
 
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  cd /boot
 
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  diff config.txt config.txt.org
 
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    1073,1075c1073
 
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    < dtparam=i2c1=on
 
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    < dtparam=i2c_arm=on
 
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    <
 
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    ---
 
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    > #dtparam=i2c_arm=off
 
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Remove I2C from the black list.
 
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  cd /etc/modprobe.d
 
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  diff blacklist.conf blacklist.conf.org
 
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    29c29
 
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    < # blacklist i2c_i801
 
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    ---
 
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    > blacklist i2c_i801
 
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Add a couple of modules to the start up list
 
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  cd /etc
 
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  diff modules modules.org
 
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    6,7d5
 
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    < i2c-bcm2708
 
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    < i2c-dev
 
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Install the smbus and I2C tools.
 
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  sudo apt-get install -y python-smbus
 
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  sudo apt-get install -y i2c-tools
 
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    didn't install anything
 
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Test I2C. We found port 60 and 70.
 
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  sudo i2cdetect -y 1
 
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= Execution =
 
= Execution =

Revision as of 20:12, 24 February 2017

References


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

References

Retrieved from "http://zdome.net/wiki/index.php?title=ROS_Raspberry_Pi_Demo&oldid=3069"