Program Robots Like a Boss
In this tutorial I’ll show you how to create a ROS Python Subscriber on your Raspberry Pi. This is the direct following of how to create a ROS Publisher on Raspberry Pi. Please check out this previous tutorial first, before you continue. In the first tutorial you have seen how to read the state of … Read more
In this tutorial I’ll show you how to write a ROS Python publisher on your Raspberry Pi. With the following code example you’ll learn how to publish a GPIO state with ROS. For that we’ll use a simple push button with a minimal hardware setup. You’ll see all the steps, from setting up the environment, … Read more
In this tutorial I’ll teach you how to use GPIO interrupts on your Raspberry Pi, thanks to the RPi.GPIO library. You’ll see: Why and when you need interrupts. How to use interrupts in your programs. 3 working examples to practice on different situations. This tutorial works on Raspberry Pi 4 (and earlier, 3B, 3B+), with … Read more
In this tutorial I’ll show you how to remap a ROS topic. Remapping a topic means that you’ll change the topic name at run-time. If a node publishes on “topic1”, then you can make it publish on “topic2” instead, without having to change the code of the node. First things first, let’s understand why. Why … Read more
You want to include a Cpp header from another package in ROS, and don’t know how to do? Or you already tried and got a lot of compilation errors? Well, this tutorial is for you. I will start from scratch with a brand new custom library, build it inside a package, install it, and use … Read more
In this tutorial I’ll show you how to compute the duration of a part of code in Arduino. The notion of time/duration is super important when you program, especially on embedded systems like Arduino. Writing a code that takes too much time, and not being able to know it, can lead to severe problems in … Read more
In this tutorial I’ll show you how to use a ROS AsyncSpinner with an example. You’ll see when using a roscpp AsyncSpinner is required, instead of the standard roscpp spinner. This tutorial could also be called: how to solve roscpp callback issues, when it seems that some callbacks are stuck or late. We’ll start by … Read more
In this tutorial I’ll show you how to create your own Arduino library. You’ll see, this might be much simpler than you thought! Very simply put, an Arduino library is a bunch of Cpp files that you have to organize in a certain way. Then you import it, use it, and that’s it. Creating an … Read more
This tutorial is the last post [4/4] of a series on how to create a ROS driver package. Make sure you have read the introduction [1/4] of this series, as well as either the Python ROS wrapper tutorial [2/4] or the Cpp ROS wrapper tutorial [3/4]. Let’s continue with the creation of your ROS driver … Read more
This Cpp ROS wrapper tutorial is the third post [3/4] of a series on how to create a ROS driver package. Make sure you have read the introduction [1/4] of this series, where I explain what is a ROS wrapper, and give some details about the driver we’ll use here. Part 2 shows you how … Read more