cartrasche_dev

prerequisitories

add these at the end of '~/.bashrc'

source /opt/ros/noetic/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
source /home/{$YOUR_DIR}/cartrasche_dev/devel/setup.bash

Set as On-Boot Service

cd cartrasche_dev
sudo sh set_service.sh

cartrasche service will run on-boot after reboot

check status with

sudo systemctl status cartrasche

How to Run

Open two terminals

roscore

sudo chmod 777 /dev/ttyACM0 &
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600

ROSSERIAL-ATMEGA

ARDUINO

• Subscribe : /cmd_vel [geometry_msgs::Twist] -> linear.x, angular.z
• Subscribe : /switch_tray [std_msgs::Int32] -> 1 or 2
• Publish : /rosduino [std_msgs::String] -> callback msg for received topic
• Publish : /heartbeat [std_msgs::String] -> heartbeat

JESTSON

• Publish : /cmd_vel [geometry_msgs::Twist] -> linear.x, angular.z
• Publish : /switch_tray [std_msgs::Int32] -> 1 or 2
• NODE : Serial_Node

LED INDEX

• WHITE : DEFAULT
• BLUE : MID to TOP
• YELLOW : BOTTOM to TOP
• GREEN : On Drive Mode
• RED : On STOP