Inforce's mbed PAC shield rosserial demo

Instalation

Check this tutorial for compiling this demo and flashing it to the mbed shield

Subscribed Topics

• cmd_vel - a geometry_msgs/Twist message with the velocity command to move the robot's servors [-1.0, 1.0]
• toggle_led - a std_msgs/Empty message that toggles the red LED on the board
• rgb - a std_msgs/ColorRGBA message that sets the RGB LED to a specific color (doesn't support PWM)

Published Topics

• imu - a sensor_msgs/Imu message with linear acceleration and angular velocities (orientation quaternions missing) read from the onboard MPU9250 IMU
• temperature - a std_msgs/Float64 with the temperature read from the onboard MPu9250 IMU
• magnetometer - a geometry_msgs/Vector3 message with the magnetometer readings from the onboard MPU9250 IMU
• pressure - a std_msgs/Float64 with the barometric pressure from the MPL3115A2 barometer

To run the on the IFC6410

1. Connect to your IFC6410p board (via ssh or with a screen, mouse and keyboard)

2. In one terminal start the master node by running:

   roscore
   

3. In another terminal run the rosserial serial node:

   rosrun rosserial_python serial_node.py /dev/ttyHS2
   

4. Now you can list all the available topics by running on another terminal:

   rostopic list
   

5. You can also connect to the ROS session running on the IFC6410p by doing on your computer:

   export ROS_MASTER_URI=http://<ifc6410p-ip-address>:11311
   rostopic list
   

If the last command doesn't work, check http://wiki.ros.org/ROS/Tutorials/MultipleMachines