chengque/ros2serial

XBee ROS to Serial

In this package there are two nodes: ros_broadcast.py and ros_receiver.py.

ros_broadcast.py subscribes to ROS PoseStamped message coming out the topic /vrpn_client_node/husky/pose and streams it into serial port /dev/ttyUSB0.

Launch it in the machine where you have VRPN client in ROS.

rosrun ros2serial ros_broadcast.py

ros_receive.py read data coming from the serial port /dev/ttyUSB0 and process it in a ROS message PoseStamped.

LIMITATION:

This code is not implemented with Python XBee APIs, it's the raw direct serial communication. It's implemented a brute force (hardcoded) way to understand if the package is correct according to the lenght of the package.

rosrun ros2serial ros_receiver.py

Packages needed:

• pyserial
• rospy
• json