From 9aaaa7b59e750f6a1fb93f600f9b7881f0929735 Mon Sep 17 00:00:00 2001 From: Richard Ulrich Date: Tue, 14 Feb 2012 00:36:02 +0100 Subject: [PATCH] Going through some ROS beginner tutorials and documenting for myself --- ros/uc_arm/nodes/robot_arm_serial_node.py | 2 +- ros/uc_arm/run_ros_serial.sh | 23 ++++++++++++++++++++--- 2 files changed, 21 insertions(+), 4 deletions(-) diff --git a/ros/uc_arm/nodes/robot_arm_serial_node.py b/ros/uc_arm/nodes/robot_arm_serial_node.py index ac157dd..98a6a91 100755 --- a/ros/uc_arm/nodes/robot_arm_serial_node.py +++ b/ros/uc_arm/nodes/robot_arm_serial_node.py @@ -43,7 +43,7 @@ import sys if __name__=="__main__": - rospy.init_node("serial_node") + rospy.init_node("arexx_mini_arm") rospy.loginfo("ROS Serial Python Node") port_name = rospy.get_param('~port','/dev/ttyUSB0') diff --git a/ros/uc_arm/run_ros_serial.sh b/ros/uc_arm/run_ros_serial.sh index b0510d9..a9f983a 100644 --- a/ros/uc_arm/run_ros_serial.sh +++ b/ros/uc_arm/run_ros_serial.sh @@ -9,10 +9,27 @@ roscore & #rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=38400 & rosrun uc_arm robot_arm_serial_node.py _port:=/dev/ttyUSB0 _baud:=38400 & +# see what's connected +rosnode list +rosnode info /arexx_mini_arm +rostopic list -v +#rostopic echo /ArexxArmServo1 +rosservice list +rosparam list +rosparam get /arexx_mini_arm/port + +# logger windows +#rxloggerlevel +#rxconsole + # send commands -rostopic pub ArexxArmServo6 std_msgs/Int16 0 -rostopic pub ArexxArmServo5 std_msgs/Int16 0 -rostopic pub ArexxArmLed std_msgs/UInt8 1 +rostopic pub -1 /ArexxArmServo6 std_msgs/Int16 0 +rostopic pub -1 /ArexxArmServo1 std_msgs/Int16 0 +rostopic pub -1 /ArexxArmLed std_msgs/UInt8 1 + +# see the current consumption +rxplot /ArexxArmServoCurrent1 +