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ROS arduino write examples 2-6

The document provides an example Arduino sketch that controls a digital output pin based on ROS messages, specifically using a subscriber to listen for boolean messages on the 'digital_out' topic. It details the setup and loop functions to initialize the pin and process incoming messages, allowing the pin to be set high or low based on the received data. Additionally, it explains how to run the ROS node for communication with the Arduino and how to publish messages to control the digital output pin from ROS.

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Mehwish Aleem
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7 views2 pages

ROS arduino write examples 2-6

The document provides an example Arduino sketch that controls a digital output pin based on ROS messages, specifically using a subscriber to listen for boolean messages on the 'digital_out' topic. It details the setup and loop functions to initialize the pin and process incoming messages, allowing the pin to be set high or low based on the received data. Additionally, it explains how to run the ROS node for communication with the Arduino and how to publish messages to control the digital output pin from ROS.

Uploaded by

Mehwish Aleem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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ROS Arduino output write example

Digital write:

Here’s an example Arduino sketch that controls a digital output pin based on ROS messages:

#include <ros.h>
#include <std_msgs/Bool.h>

ros::NodeHandle nh;

// Define the digital pin


const int pin = 13;

// Callback function to set the digital output


void digitalOutputCallback(const std_msgs::Bool& msg) {
if (msg.data) {
digitalWrite(pin, HIGH); // Set pin high (ON)
} else {
digitalWrite(pin, LOW); // Set pin low (OFF)
}
}

// Define a subscriber to receive messages


ros::Subscriber<std_msgs::Bool> sub("digital_out", digitalOutputCallback);

void setup() {
pinMode(pin, OUTPUT); // Set the digital pin as output
nh.initNode();
nh.subscribe(sub); // Subscribe to the topic
}

void loop() {
nh.spinOnce(); // Process incoming ROS messages
delay(10); // Add a small delay to avoid overloading the loop
}

This code listens to the digital_out topic and sets the state of pin 13 based on the received
message (True for HIGH, False for LOW).

Run the ROS Node to Communicate with the Arduino:

In a new terminal, launch the rosserial node to establish communication with the Arduino.

roslaunch rosserial_arduino serial_node.launch

This command opens a serial connection to the Arduino and allows it to communicate with ROS.

Publish Messages from ROS:


You can now control the digital output pin from ROS by publishing messages to the
digital_out topic. For example, to turn the pin on, you can run:

rostopic pub /digital_out std_msgs/Bool "data: true"

To turn it off, run:

rostopic pub /digital_out std_msgs/Bool "data: false"

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