Difference between revisions of "ROS Raspberry Pi Demo"
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* [https://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup/configuring-i2c Adafruit configuring I2C on Raspberry Pi] | * [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://wiki.ros.org/ROS/Tutorials ROS Tutorials] | ||
+ | |||
+ | = 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 = | = Execution = |
Revision as of 19:44, 24 February 2017
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
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
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