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#if defined(ARDUINO) && ARDUINO >= 100 #include "Arduino.h" #else #include <wprogram.h> #endif
#include <Servo.h>
#include <ros.h>
#include <std_msgs/UInt16.h>
ros::NodeHandle nh;
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;
void servo_cb1( const std_msgs::UInt16& cmd_msg){
servo1.write(cmd_msg.data); //set servo angle, should be from 0-180
}
void servo_cb2( const std_msgs::UInt16& cmd_msg){
servo2.write(cmd_msg.data); //set servo angle, should be from 0-180
}
void servo_cb3( const std_msgs::UInt16& cmd_msg){
servo3.write(cmd_msg.data); //set servo angle, should be from 0-180
}
void servo_cb4( const std_msgs::UInt16& cmd_msg){
servo4.write(cmd_msg.data); //set servo angle, should be from 0-180
}
void servo_cb5( const std_msgs::UInt16& cmd_msg){
servo5.write(cmd_msg.data); //set servo angle, should be from 0-180
}
void servo_cb6( const std_msgs::UInt16& cmd_msg){
servo6.write(cmd_msg.data); //set servo angle, should be from 0-180
}
ros::Subscriber<std_msgs::UInt16> sub1("servo1", servo_cb1);
ros::Subscriber<std_msgs::UInt16> sub2("servo2", servo_cb2);
ros::Subscriber<std_msgs::UInt16> sub3("servo3", servo_cb3);
ros::Subscriber<std_msgs::UInt16> sub4("servo4", servo_cb4);
ros::Subscriber<std_msgs::UInt16> sub5("servo5", servo_cb5);
ros::Subscriber<std_msgs::UInt16> sub6("servo6", servo_cb6);
void setup(){
pinMode(13, OUTPUT);
pinMode(12, OUTPUT);
pinMode(11, OUTPUT);
pinMode(10, OUTPUT);
pinMode(9, OUTPUT);
pinMode(8, OUTPUT);
nh.initNode();
nh.subscribe(sub1);
nh.subscribe(sub2);
nh.subscribe(sub3);
nh.subscribe(sub4);
nh.subscribe(sub5);
nh.subscribe(sub6);
servo1.attach(13); //attach it to pin 13
servo2.attach(12);
servo3.attach(11); //attach it to pin 11
servo4.attach(10);
servo1.attach(9); //attach it to pin 9
servo2.attach(8);
}
void loop(){
nh.spinOnce();
delay(1);
}
Move it , i am also trying to figure out , once i figure it our i will share .
For move it , you need to first sort out the URDF model of the robotic arm .
I have a 16 channel PCA9685 servo module (it can be operated via I2C). I am trying to figure out how to control the module vai nodemcu.
https://github.com/ksatyaki/JacoROS
Try this , might work.
Finaly, I've got how do this. There is topic: /joint_states it gives radians of position of each knee of manipulator. I've transformed this data to servo steps in ros node and then sent them to arduino using UInt8MultiArray! And it works! After all arduino subscriber looks like this:
void servo_cb( const std_msgs::UInt8MultiArray& cmd_msg){
for(short i = 0; i<=4; i++)
myservo[i].write(cmd_msg.data[i]);
}
Hello @Evgenia, is there anyway you can show how you have put these values into an array? I am struggling to reproduce what you have described here...
have you sought the issue, i am also struggling for the same problem. Can you help me @matthewmarkey
Asked: 2018-01-10 20:46:07 -0600
Seen: 1,191 times
Last updated: Mar 05 '18
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You want someone to write code for you? If that's what you're looking for that's not how it works. We'll hekp you with problems but we won't do your work for you. If I'm mistaken, please let me know and update your question with more detail.
Thank you for your comment! I’ve updated my question.