/M5Stack_Bluetooth_rosserial_example

Primary LanguageC++

M5Stack Bluetooth rosserial example

This is a simple rosserial example on bluetooth SPP with M5Stack You can use this example for other ESP32 board with slight changes.

How to build

This repo is tested with Ubuntu 18.04 + ROS Melodic + M5Stack Fire, and the project is for PlatformIO.

  • M5Stack
  • rosserial
  • platformio
pip install platformio

and if you want to use other board. please configure the project like

cd firmware
pio init -b m5stick-c

After that, please generate ros_lib

cd <this repo>/firmware/lib
rosrun rosserial_arduino make_libraries.py

And you can now build the project and burn it to your board.

pio run -t upload --upload-port <serial port to your board>

How to run

Before actually use it, please pair and connect your device to PC.

bluetoothctl
scan on # check your device is visible and
scan off
pair <MAC Address of your device>
trust <MAC Address of your device>
connect <MAC Address of your device>
info <MAC Address of your device>

and bind bluetooth spp

sudo rfcomm bind 1 <MAC Address of your device>
sudo stty -F /dev/rfcomm1 57600 cs8

then you can now run rosserial

roscore
rosrun rosserial_python serial_node.py _port:=/dev/rfcomm1 _baud:=57600