Our ROS implementation can be found in Github
This repository (SuperModifiedServo-ROS Implementation) contains C library that used from ROS in order to control Super Modified Servo. It is inspired by this arduino library. This ROS package tested in Xubuntu 14.04 with ROS indigo - 1.11. 13
To install the ROS package, clone the repository files in your ROS workspace:
roscd cd ../src git clone https://github.com/zisi/SuperModifiedServo-ROS.git cd .. catkin_make #Compile the files
Connect the controller to USB-RS485 or USB-UART as describe here. To find the device name:
$ dmesg | grep tty
Then change the device name in src/SuperModifiedTest.cpp
int fd = serialPortOpen("[device name]");
for example "/dev/ttyUSB0" .
For testing run the launch file:
$ roslaunch super_modified_servo SuperModifiedTest.launch
and in other terminal write the command to the topic /Command:
# test 1 $ rostopic pub -1 /Command super_modified_servo/Command "cmd: 'b1'" # or for test 2 $ rostopic pub -1 /Command super_modified_servo/Command "cmd: 'b2'" # or for test 3 $ rostopic pub -1 /Command super_modified_servo/Command "cmd: 'b3'"
- If the user in your platform does not have permissions to read/write to serial device, run the roslaunch as super user or give him the permissions for this.