ROS driver for Otto.
The node otto_serial_driver.py
is used to communicate with Otto.
It performs the following tasks:
- Open the serial port
- Reset the MCU
- Transmit the startup configuration
- Listen for messages on cmd_vel, and transmit the last cmd_vel received every 100ms to the MCU
- Receives data from Otto, publish it on
otto_ticks
topic - Publishes odometry and tf transform
Use rosdep
to install the dependencies needed:
rosdep install otto_serial_driver
In the launch
folder you can find the launch files, launch otto_serial_driver.launch
to start the communication with Otto, using the parameters specified in config/firware_parameters.yaml
.
Important: to be able to open the serial port, your user should be added to the dialout
group:
sudo useradd -aG dialout $USER
Then logout, and log back in.