In the last two chapters, we discussed different kinds of plugin frameworks that are used in ROS. In this chapter, we are going to discuss interfacing of some hardware components, such as sensors and actuators to ROS. We will see interfacing of sensors using I/O boards such as Arduino, Raspberry Pi, and Odroid-C1 to ROS, and also discuss interfacing of smart actuators such as Dynamixel to ROS. Following is the detailed list of topics we are going to cover in this chapter:
Understanding the Arduino-ROS interface
Setting up the Arduino-ROS interface packages
Arduino-ROS ,example—Chatter and Talker
Arduino-ROS , example—blink LED and push button
Arduino-ROS , example—Accelerometer ADXL 335
Arduino-ROS, example—ultrasonic distance sensor
Arduino-ROS, example—Odometry Publisher
Interfacing a non-Arduino board to ROS
Setting ROS on Odroid-C1 and Raspberry Pi 2
Working with Raspberry Pi and Odroid GPIOs using ROS
Interfacing Dynamixel actuators...