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1. Micro-ros run_servo_service node

1.1. Setup microros agent and micro_ros_arduino

Follow the instructions in MicroRos_ArduinoDue_Setup_Guide to install and setup microros with Arduino Due. This setup is needed only once.

1.2. Upload to Arduino

Open Arduino ide, compile and upload micro-ros_runservo_service.ino in Arduino Due.

1.3. Bind Arduino USB port under static name

Everytime you connect arduino, it usually shows up under /dev/ttyACM0 but it can show up under some other port. We can add rule so that whatever port it shows up under is displayed as /dev/arduino:

  1. Connect Arduino to laptop
  2. ls /dev/
  3. udevadm info --name=/dev/ttyACM0 --attribute-walk
  4. In the output for arduino find: 
    ATTRS{idProduct}=="zzzz"
ATTRS{idVendor}=="wwww"
  5. cd /etc/udev/rules.d
  6. sudo gedit 99-usb-serial.rules
  7. Add the following line: SUBSYSTEM=="tty", ATTRS{idVendor}=="wwww", ATTRS{idProduct}=="zzzz", SYMLINK+="arduino"
  8. Load the new rule: sudo udevadm trigger
  9. Check if the static name setting is done properly: ls -l /dev/arduino

1.4. Run micro-ros agent and test run_servo_service node

  1. Power Cycle/Reconnect Arduino Due to laptop via USB.

  2. Open a new terminal and run microros agent with --dev (port connected to Arduino):

    # In a new terminal:
cd ~/trail_ws/src/TRAILBot/Arduino
./run_microros_agent.sh

  3. Test node: Open a new terminal and call /runservo service to see if you can operate servos:

    ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 1}'
ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 2}'
ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 3}'
ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 4}'