BlueROVarmController

sending PWM signals from computer's keyboard to BlueROV Newton Arm

Make Your ROS Workspace

$ mkdir -p ~/catkin_ws/src

$ cd ~/catkin_ws/

$ catkin_make

Enable Workspace

type this following command in Terminal

$ gedit .bashrc

Now in this opened file source your_ws

Type in end 'source /opt/ros/< DISTRO >/setup.bash' // DISTRO is your ROS version i.e. Noetic

And /YOUR_PATH/catkin_ws/devel/setup.bash

Now save changes and close this file and

Verify this step in Terminal by command

$ roscd

ROS & Ardunino

Install Arduino IDE on your machine

Install Arduino-rosserrial on ROS workstation

$ sudo apt-get install ros-DISTRO-rosserial-arduino

$ sudo apt-get install ros-DISTRO-rosserial

ros_lib installation into Arduino IDE

NOTE : NEVER DOWNLOAD ROS PACKGAE FOR ARDUNIO FROM ARDUNIO IDE ITSELF, IF PRESENT ALREADY DELETE IT !!!

Now go in your ardunio library folder

$ cd <arduino_sketchbook>/libraries

$ rm -rf ros_lib

$ rosrun rosserial_arduino make_libraries.py

Now you can see ros_lib under examples in Ardunio IDE

Ardunio UNO and Newton Subsea Gripper setup

1.Connect Gripper PWM wire to Ardunio's port 9 (as defined in program)

2.Connect power cables to BlueRov or provide them 9 - 18 volts (6 Amps)

3.Upload ServoContol code on Ardunio UNO Board (Take code from this repo)

4.Verify the port address from Arduino IDE

Execution

In 1st Terminal window

$ roscore

In 2nd Terminal window

$ rosrun rosserial_python serial_node.py _port:=/dev/[address_ardunio_USB]

In 3rd Terminal window

$ rostopic pub BlueROV std_msgs/UInt16 < MicroSeconds >

When MicroSeconds = 1500 micros (Neutral Signal)

When MicroSeconds = 1530 - 1900 micros ( open Signal )

When MicroSeconds = 1470 - 1100 micros ( close Signal )