Interfacing I/O Boards, 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, Raspberry Pi, 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
• Setting up the Arduino-ROS interface packages
• Arduino-ROS examples: Chatter and Talker, blink LED and push button, Accelerometer ADXL 335, ultrasonic distance sensors, and Odometry Publisher
• Interfacing a non-Arduino board to ROS
• Setting ROS on Odroid-XU4 and Raspberry Pi 2
• Working with...