Green --> 21
Yellow --> 22
Black --> GND
Brown --> 3V3
Don't put the two sensors too close to each other, otherwise the readings will be affected.
I put the uart_reader.py in /home/hsr-hmi/ros/workspaces/hsrb_ws/src/ros_skin_node/scripts/uart_reader.py.
How to run
cd ros/workspaces/hsrb_ws
source devel/setup.bash
rosrun ros_skin_node uart_reader.pyIn local computer
hsrb_mode
rostopic echo /spike_counts