ArduinoとRaspberry Pi間をZigBeeで接続する ref: https://qiita.com/h-sakano/items/15e1b269d3ceb03cf499

file0.sh

# ベースのアップデート
$ sudo apt-get update  
$ sudo apt-get upgrade -y  
$ sudo apt-get dist-upgrade 

# 必要なライブラリのインストール
$ sudo pip install xbee

file1.c

#include <XBee.h>

// Initialize XBee ZB client
XBee xbee = XBee();

// Payload byte array
uint8_t payload[16];

// Send to coordinator
XBeeAddress64 addr64 = XBeeAddress64(0, 0);

void set_int_to_payload(int value, int index) {
  uint8_t *value_array;
  value_array = reinterpret_cast<uint8_t*>(&value);
  for(int i=0; i<sizeof(value); i++){
    payload[i+index] = value_array[i];
  }
}

void setup() {
  Serial.begin(9600); 
  xbee.setSerial(Serial);
}

void loop() {
  delay(3000);

  int tid = 13;  // 端末ID(テキトー)

  // 今回はA0から光抵抗センサの値を読み取った
  int cds = analogRead(0);

  set_int_to_payload(tid, 0);
  set_int_to_payload(cds, 8);

  // Create request for XBee ZB
  ZBTxRequest zbTx = ZBTxRequest(addr64, payload, sizeof(payload));

  xbee.send(zbTx);
}

file3.sh

$ python receive.py 
>> Waiting for data...
(13, 404)
(13, 404)
(13, 407)
(13, 403)
(13, 406)
(13, 404)
 .
 .
 .

receive.py

# coding: utf-8
from xbee import ZigBee
import serial
import struct
import time


def parseData(data):
    data = struct.unpack('qq', data['rf_data'])
    return data

if __name__ == '__main__':
    # Setup ZigBee
    PORT = '/dev/ttyUSB0'
    BAUD_RATE = 9600
    myDevice = serial.Serial(PORT, BAUD_RATE)
    xbee = ZigBee(myDevice)

    # Continuously read and print packets
    print(">> Waiting for data...")
    while True:
        try:
            data = parseData(xbee.wait_read_frame())
            tid = data[0]
            cds = data[1]
            print(tid, cds)
        except KeyboardInterrupt:
            break

    myDevice.close()