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Ok, I got what the problem was. Basically, sensor_msgs classes/structs are defined differently for the ros_lib on Arduino. I had to specify the size of the message I'm sending, for example by defining variables like 'position_length' as in the following code:

sensor_msgs::JointState robot_state;
char *a[] = {"FL", "FR", "BR", "BL"}; // F: Front - B: Back - R: Right - L: Left
float pos[4]; /// stores arduino time
float vel[4];
float eff[4];

ros::Publisher odometry("odo", &robot_state);

SerialCommand serialCommand;

#define CAN_BUS_SPEED 1000  // 1Mbaud

int state = 0;
int pin = LOW;

byte received[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
byte rec [4] = {0x00, 0x00, 0x00, 0x00};

signed long rec_new;


void setup() {
    // put your setup code here, to run once:
  nh.initNode();
  nh.advertise(chatter);
  nh.advertise(odometry);

  robot_state.header.frame_id = robot_id;
  robot_state.name_length = 4;
  robot_state.velocity_length = 4;
  robot_state.position_length = 4; /// here used for arduino time
  robot_state.effort_length = 4; /// here used for arduino time

    robot_state.name = a;
    robot_state.position = pos;
    robot_state.velocity = vel;
    robot_state.effort = eff;

After that It worked. Thanks for the help!