Arduino/ROS Communication

Much of the electronics of the project are connected to an Ardunio microprocessor. Most of the software in the Shovit robot uses ROS ran on a Linux laptop. In order for the two separate systems to communicate to each other, a common interface needs to be introduced. In order to accomplish this, a ROS package called rosserial was used.

This ROS package essentially exposes the ROS publisher/subscriber paradigm to the Arduino language. Subscribers and publishers can now be setup in the Arduino software which can send and receieve data from the ROS nodes.