After uploading the embedded code to Launchpad, the next step is to handle the serial data from Launchpad and convert it to ROS Topics for further processing. The launchpad_node.py
ROS Python driver node interfaces Tiva C LaunchPad to ROS. The launchpad_node.py
file is on the script
folder, which is inside the chefbot_bringup
package. The following is the explanation of launchpad_node.py
in important code sections:
#ROS Python client import rospy import sys import time import math #This python module helps to receive values from serial port which execute in a thread from SerialDataGateway import SerialDataGateway #Importing required ROS data types for the code from std_msgs.msg import Int16,Int32, Int64, Float32, String, Header, UInt64 #Importing ROS data type for IMU from sensor_msgs.msg import Imu
The launchpad_node.py
file imports the preceding modules. The main modules we can see is SerialDataGateway
. This is a custom module written to receive serial...