Chapter 9: Interfacing I/O Board Sensors and Actuators to ROS
In the previous chapters, we discussed different kinds of plugin frameworks that are used in ROS. In this chapter, we are going to discuss the interfacing of some hardware components, such as sensors and actuators, to ROS. We will look at the interfacing of sensors using I/O boards such as Arduino, Teensy, Raspberry Pi 4, Jetson Nano, and Odroid-XU4 to ROS, and we will discuss interfacing smart actuators, such as DYNAMIXEL, to ROS. The following is the detailed list of topics that we are going to cover in this chapter:
- Understanding the Arduino-ROS interface
- What is the the Arduino-ROS interface packages?
- Interfacing a non-Arduino board to ROS
- Interfacing DYNAMIXEL actuators to ROS
