Otto serial driver

ROS driver for Otto.

Description

The node otto_serial_driver.py is used to communicate with Otto. It performs the following tasks:

• Open the serial port
• Reset the MCU
• Transmit the startup configuration
• Listen for messages on cmd_vel, and transmit the last cmd_vel received every 100ms to the MCU
• Receives data from Otto, publish it on otto_ticks topic
• Publishes odometry and tf transform

How to

Use rosdep to install the dependencies needed:

rosdep install otto_serial_driver

In the launch folder you can find the launch files, launch otto_serial_driver.launch to start the communication with Otto, using the parameters specified in config/firware_parameters.yaml.

Important: to be able to open the serial port, your user should be added to the dialout group:

sudo useradd -aG dialout $USER

Then logout, and log back in.