Haruto-arduino

The following arduino project is a base controller for custom made four wheel differential drive robot powered by arduino and ROS

Hardware required

1) Ardunino Mega 2560

2) Dual motor driver shield for Mega 2560 compatible with encoder connector

3) Motor with encoders

How to connect to ROS from arduino

1) After ROS installation the following package is required to be installed

http://wiki.ros.org/rosserial_arduino (For connecting ros with serial port)

2) Run the following commands to start the rosserial node (In different terminals)

roscore
rosrun rosserial_arduino serial_node.py _port:=/dev/ttyACM0 _baud:=115200