rosserial - Arduino DUE - sync issues

Question

I am trying to get an Arduino DUE to work with ROS Kinetic on my machine running Ubuntu 16.04 (using the DUE programming port, although I've tried the native one too). I seem to be having issues unique to the DUE as everything seems to work perfectly fine with the exact same cone with an Ardunio Uno.

When running the code:

rosrun rosserial_python serial_node.py /dev/ttyACM0

I get the following error message:

[ERROR] [1498484524.793356]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

Again using the exact same code uploaded to the Arduino Uno I do not get this error. I have tried a number of different baud rates (all from 9600 - 115200), where I found that the Uno gives the same error if it doesn't have the correct baud rate set, however, I continue to get the same message for the DUE regardless of the setting.

I have tried both my simple custom code as well as the example code provided with ros (e.g. pubsub), but have had not success. Further to force a specific baud rate I have including the following lines in setup (both individually, and alone):

nh.getHardware()->setBaud(115200);

Serial.begin(115200);

Using pyserial I can connect to the DUE unlike with ROS. It appears that others have been successful using the DUE based on other questions on here, however, nothing that I have found seems to resolve my issue.

Any ideas what might resolve the issue?

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Originally posted by jesse on ROS Answers with karma: 91 on 2017-06-26

Post score: 1

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Original comments

Comment by jesse on 2017-06-26:
I've tried pretty much everything suggested related to arduino sync issues included in this question too:

http://answers.ros.org/question/196204/unable-to-sync-with-device-arduino-uno/

Comment by jesse on 2017-06-26:
From rosserial/SerialClient.py (found at https://github.com/ros-drivers/rosserial/blob/jade-devel/rosserial_python/src/rosserial_python/SerialClient.py) line 432, it appears that the given Error is simply indicative of sync timing out.

Comment by jesse on 2017-06-29:
Looking at https://github.com/ros-drivers/rosserial/issues/113 It appears that you need to add:

#define SAM3XA

however, this does not seem to work. There's also mention something about using:

#define USE_USB

which also does not work.

Answer 1

I ended up finding several solutions, however, I would hope that a change to /rosserial_arduino/src/ArduinoHardware.h might make any work arounds necessary.

1 -- First solution that worked. In your version of ArduinoHardware.h in the Arduino Libraries directory change line 75 to read:

iostream = &Serial;

This works but will likely make use of other Arduino boards a problem (e.g. Leonardo)

2 -- Put the following code before including the ROS library

#define USE_USBCON

This also seems to work, however, it means that you'd have to add this in every case you use a DUE, which you might forget.

3 -- Modify the line 73 to read:

#if defined(USBCON) and !(defined(USE_USBCON)) and !(defined(SAM3XA))

Which I believe will resolve all previous issues, however, there might be another board released that also uses the SAM3X... processor and may be an issue in the future.

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Originally posted by jesse with karma: 91 on 2017-07-02

This answer was ACCEPTED on the original site

Post score: 8

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Original comments

Comment by Rakjoon on 2017-09-20:
Thanks a lot. I solved this issue by using what you said. Thanks

Comment by quannv on 2018-04-04:
very useful

Comment by jakegoldsmith on 2018-04-08:
Thanks! This finally fixed my problem, after many hours of searching and trying other solutions.

Comment by R Valk on 2018-10-18:
For me, this does not seem to work. Can you provide us with the full ArduinoHardware.h file? Tried all three suggestions, but none seem to work.

Comment by EwingKang on 2019-03-28:
Thanks! This helps a lot, glad I've googled the issue with "DUE" keyword.