Segbot Arduino firmware

This package contains Arduino firmware for the UTexas BWI segbot sensor array.

Access to Serial Ports

To access the Arduino serial port, you must be authorized for the “dialout” group. To verify that you are a member of that group, run this command:

$ id | grep dialout

If you are in the group, “dialout” will appear in the printed output.

If you are not yet authorized, run this command on a personal Ubuntu system:

$ sudo usermod -a -G dialout your_user_id

But, do not run that command on any of the BWI robots or lab machines. They maintain a shared user and group database, so ask a system administrator to update it for you.

In either case, logout and login after your group membership has been updated, and verify that you are now in the “dialout” group.

Build and Install

The CMakeLists.txt does not yet support make and install from the command line. To build and install firmware on the Arduino board, first install the Arduino development tools. On Ubuntu, run these commands:

$ sudo apt-get install arduino
$ mkdir ~/sketchbook 
$ cd ~/sketchbook
$ ln -s $(rospack find segbot_firmware)/src/libraries .

Plug in the USB cable, then run the Arduino GUI:

$ arduino

Select File > Sketchbook > Libraries followed by the desired firmware version. The standard one is named segbot_arduino. Then, click the -> icon to compile the microcode and load it into the controller.

ROS Driver

When the firmware is loaded, you can run the ROS device driver:

$ roslaunch segbot_sensors arduino.launch --screen

The segbot_sensors package documentation describes the topics published.

Changelog for package segbot_firmware

0.3.5 (2016-08-27)

0.3.4 (2016-08-08)

0.3.3 (2015-08-05)

0.3.2 (2015-03-31)

0.3.1 (2015-03-24)

0.3.0 (2015-03-14)

• new arduino firmware for segbot v2.
• Contributors: Jack O'Quin

0.2.1 (2014-04-24)

0.2.0 (2014-04-17)

• Initial release to Hydro.
• Arduino firmware for sonar and IR sensors.