ros_spektrum_rc_teleop

This project develops a teleop node for RC controllers running on an ESP32 microcontroller.

Usage

A simple guide is presented below:

Arduino IDE Configuration

You must install the Rosserial Arduino Library through the Arduino IDE's library manager and modify the original Rosserial_Arduino_Library/src/ros.h file as follows:

#ifndef _ROS_H_
#define _ROS_H_

#include "ros/node_handle.h"

#if defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)
  #include "ArduinoTcpHardware.h" // Remove this if condition so it always includes ArduinoHardware.h
#else
  #include "ArduinoHardware.h" 
#endif

namespace ros
{
#if defined(__AVR_ATmega8__) or defined(__AVR_ATmega168__)
  /* Downsize our buffers */
  typedef NodeHandle_<ArduinoHardware, 6, 6, 150, 150> NodeHandle;

#elif defined(__AVR_ATmega328P__)

  typedef NodeHandle_<ArduinoHardware, 25, 25, 280, 280> NodeHandle;

#elif defined(SPARK)

  typedef NodeHandle_<ArduinoHardware, 10, 10, 2048, 2048> NodeHandle;

#else

  typedef NodeHandle_<ArduinoHardware> NodeHandle; // Default 25, 25, 512, 512

#endif
}


#endif

After modification, the result should be:

#ifndef _ROS_H_
#define _ROS_H_

#include "ros/node_handle.h"


/* Modified line to solve protocol erros*/

#include "ArduinoHardware.h"

namespace ros
{
#if defined(__AVR_ATmega8__) or defined(__AVR_ATmega168__)
  /* downsize our buffers */
  typedef NodeHandle_<ArduinoHardware, 6, 6, 150, 150> NodeHandle;

#elif defined(__AVR_ATmega328P__)

  typedef NodeHandle_<ArduinoHardware, 25, 25, 280, 280> NodeHandle;

#elif defined(SPARK)

  typedef NodeHandle_<ArduinoHardware, 10, 10, 2048, 2048> NodeHandle;

#else

  typedef NodeHandle_<ArduinoHardware> NodeHandle; // default 25, 25, 512, 512

#endif
}

#endif

This modification is necessary to resolve some protocol communication errors that may occur while running the node.

ROS workstation configuration

To configure your ROS workstation, you only need to install two ROS packages:

sudo apt-get install ros-${ROS_DISTRO}-rosserial-arduino
sudo apt-get install ros-${ROS_DISTRO}-rosserial

That's it!

Running the node

Running the node is straightforward. Follow these steps:

1. Upload the repository code to your ESP32 microcontroller.
2. Run roscore on your ROS workstation.
3. Start the rosserial client in your workspace with the following command:

rosrun rosserial_python serial_node.py /dev/ttyUSB0