ROS packages for Arduino serial interface

#Requirements ##Software

1. Ubuntu 10.4 LTS (can be installed on virtual machine)
2. ROS Hydro Medusa (Desktop-Full, instructions here: http://wiki.ros.org/hydro/Installation/Ubuntu)

##Hardware Requirements

1. PC
2. 4WD base
3. Arduino compatible board (Leonardo)
4. 2x X-bee (one connected to the PC and the other to the Arduino board)
5. Two channel motor controller
6. 2x Motor encoders (both sides)
7. IR sensor
8. Pan/tilt servo kit (2x 180 degree servo motors)

#Installing and using ROS $ Instructions here: http://wiki.ros.org/hydro/Installation/Ubuntu $ echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc

##Installing Arpi stack on Ubuntu $ mkdir -p ~/ros_workspace/ros_arpi $ mkdir -p ~/ros_workspace/ros_arpi/src $ cd ~/ros_workspace/ros_arpi/src $ git clone https://github.com/karlblum/arpi.git $ cd ~/ros_workspace/ros_arpi/ $ catkin_make $ echo "source ~/ros_workspace/ros_arpi/devel/setup.bash" >> ~/.bashrc

Make sure all node files have executable permission $ chmod +x node.py

Running the whole stack:

$ roslaunch ros_arduino_python arduino.launch

##Creating an empty ROS workspace $ mkdir -p ~/ros_workspace/ros_project/ $ cd ~/ros_workspace/ros_project $ catkin_init_workspace

##Todo ROS ei saa vahest päringutele vastuseid kätte ja hangub. Arduino FW loop jookseb edasi aga ROS ei anna ka timeouti millegipärast.