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I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement but I have build a circuit using an Arduino and a light sensor. Currently I have the sensors streaming data to the Arduino IoT cloud.

I would like to setup the light sensor so it can be a topic in my ROS platform. Generally speaking it makes collection of lux vs. landmarks easier if I can record everything in one platform. I know the rosserial_arduino library exists for integration but this is all based off of serial and I am doing everything wireless. I plan on mounting the lux meter/arduino/battery on top of the robot near the camera.

Does anyone know a clever was to integrate information streamed to a cloud platform into a ROS topic?

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