grassjelly

<launch>
  <!--serial communication between arduino and pc via usb /-->
  <node name="arduino_serial_node" pkg="rosserial_python" type="serial_node.py" output="screen">
    <param name="port" value="/dev/linobase" />
    <param name="baud" value="57600" />
  </node>

 <node pkg="ros_arduino_imu" type="raw_imu_bridge_node" name="raw_imu_bridge" output="screen" respawn="false">
   <rosparam>
   imu/gyroscope_bias: {x: -0.013545, y: 0.056887, z: 0.012693 }

grassjelly

#!/bin/sh
cd ~/catkin_ws/src
git clone https://github.com/grassjelly/lino_msgs.git
cd ~/catkin_ws/
catkin_make

cd ~/catkin_ws/src
git clone -b minimal https://git@github.com/grassjelly/linorobot.git
cd ~/catkin_ws/
catkin_make

grassjelly

/*
 * Firmata is a generic protocol for communicating with microcontrollers
 * from software on a host computer. It is intended to work with
 * any host computer software package.
 *
 * To download a host software package, please clink on the following link
 * to open the download page in your default browser.
 *
 * http://firmata.org/wiki/Download
 */

grassjelly

; [env:teensy31]
; platform = teensy
; framework = arduino
; board = teensy31

;[env:promini]
;platform = atmelavr
;framework = arduino
;board = pro16MHzatmega328	

grassjelly

#!/usr/bin/env bash

sudo apt-get install -y nodejs
sudo apt-get install -y npm
sudo ln -s `which nodejs` /usr/local/bin/node
echo "NodeJS installation done."

grassjelly

#define LEDPIN 13

void setup() {
  Serial1.begin(26315, SERIAL_9N1);
  Serial.begin(115200);
}

char c = ' ';
signed int sp=0;

grassjelly

#include <string.h>
#include <stdio.h>
#include <iostream>
#include <fstream>
#include <vector>
#include "rapidxml-1.13/rapidxml.hpp"

using namespace rapidxml;
using namespace std;

grassjelly

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <lino_msgs/Velocities.h>
#include <sensor_msgs/Imu.h>
#include <math.h>

double g_vel_x = 0.0;
double g_vel_y = 0.0;

grassjelly

<launch>
    <node pkg="LH_laser_driver" type="LH_laser_publisher" name="LH_laser_driver">
      <param name="port" value="/dev/ttyUSB0"/>
      <param name="baud_rate" value="230400"/>
      <param name="firmware_version" value="2"/>
      <param name="frame_id" value="laser"/>
    </node>
</launch>

grassjelly

Install dependencies :

This is manual way to install necessary packages :

sudo apt-get install ros-kinetic-robot-localization ros-kinetic-controller-manager ros-kinetic-joint-state-controller ros-kinetic-diff-drive-controller ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-plugins             ros-kinetic-lms1xx ros-kinetic-pointgrey-camera-description ros-kinetic-roslint ros-kinetic-amcl ros-kinetic-gmapping      ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-message-runtime ros-kinetic-topic-tools ros-kinetic-teleop-twist-joy

If you want to use rosdep and install all dependencies (for example for doc generation etc), the skip this step.

Create a workspace and clone sources