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I am using a arduino due to read two encoders for wheel position. How do I send those number strings to the pyserial and have pyserial read it as left, right wheel(for ros Odom)? I am not all that good at programming, so how would I setup up the sending side and the receiving side? The encoders resolution is 4096 tick/rev and full motor speed is 3k rpm. I am using the output for the differential_drive ros package. http://www.ros.org/wiki/differential_drive


Originally posted by packrat on ROS Answers with karma: 51 on 2013-04-07

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Hi Packrat,

Not quite what you're after, but you might find this useful: http://www.ros.org/wiki/ros_arduino_bridge It's an arduino bridge to ROS that handles odometry & encoders onboard, and is a lot more lightweight than pyserial.

There's a lot of functionality from the differential drive in there too, like PID feedback for speeds.

Cheers, Gavin


Originally posted by Gav with karma: 478 on 2013-04-09

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Original comments

Comment by packrat on 2013-04-09:
Well all processing is done by the onboard pc. I am trying to use the arduino as a relay to send the encoder ticks to the PC.

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