Add script to bind rfcomm device to remote Bluetooth device

[708yamaguchi]

I add script to bind rfcomm device to remote bluetooth device.

By binding rfcomm device, we can connect bluetooth device via rosserial.
https://github.com/sktometometo/M5Stack_Bluetooth_rosserial_example

Usage

Save the bluetooth device MAC address to file like (/var/lib/robot/rfcomm_devices.yaml)

- name: device1
  address: XX:XX:XX:XX:XX:XX
- name: device2
  address: YY:YY:YY:YY:YY:YY

Then, run this program.
If you use PR2,

roslaunch jsk_pr2_startup pr2_rfcomm_bind.launch machine:=c2  # bluetooth dongle is now in c2

management

Currently, I start the above launch file by upstart.

The config file is in /etc/upstart/jsk-rfcomm-bind.conf in pr2.

To check how many devices are bound to rfcomm, use rfcomm command.

ssh pr2
ssh c2
rfcomm

[knorth55]

does this script monitor the bluetooth connection and automatically connect the device when its exists?

[708yamaguchi]

does this script monitor the bluetooth connection and automatically connect the device when its exists?

No.
This node only binds rfcomm file (e.g. /dev/rfcomm0) and bluetooth device (MAC address like AA:BB:CC:DD:EE:FF) before establishing the connection.

So my usage is like the following:

1. Bind rfcomm file and bluetooth device by `rfcomm_bind.py` when robot starts
2. Establish a connection to bluetooth device by `rosrun rosserial_python serial_node.py port:=/dev/rfcomm*`

FYI (rfcomm bind):

bind <dev> [bdaddr] [channel]
This binds the RFCOMM device to a remote Bluetooth device. The command did not establish a connection to the remote device, it only creates the binding. The connection will be established right after an application tries to open the RFCOMM device. If no channel number is specified, it uses the channel number 1. If the Bluetooth address is also left out, it tries to read the data from the config file.

https://linux.die.net/man/1/rfcomm

[knorth55]

so you mean that you manually start the upstart like sudo initctl start jsk-rfcomm-bind?

[knorth55]

also please

1. open this PR to jsk-ros-pkg/jsk_robot.
2. open new PR for Fetch

[708yamaguchi]

I am sorry for confusing you.

so you mean that you manually start the upstart like sudo initctl start jsk-rfcomm-bind?

No, jsk-rfcomm-bind automatically starts after robot-is-on.
This is because rfcomm bind works regardless of existance of the bluetooth devices.

So
If there is no bluetooth device,

• rfcomm bind works
• rosrun rosserial_python serial_node.py does not work.

If bluetooth device appears after rfcomm bind, rosrun rosserial_python serial_node.py works.

also please
open this PR to jsk-ros-pkg/jsk_robot.
open new PR for Fetch

OK.
I do that.

[knorth55]

I see, thanks