smb_powerstatus

Software to display the power source status of the SuperMegaBot.

The repository contains the launchfile for the SuperMegaBot, the custom message definition for publishing the power source status and the firmware for the power control board.

Install

Install dependecies

# Install dependencies
sudo apt install ros-noetic-rosserial ros-noetic-rosserial-arduino

Clone and Build package

# Enter your workspace
cd <directory_to_ws>/<catkin_ws_name>/src
# Clone the repository
git clone [email protected]:ETHZ-RobotX/smb_powerstatus.git
# Build package
catkin build smb_powerstatus
# Source the package
source ../devel/setup.bash

Build Arduino firmware

To build the firmware you have to install the Arduino IDE. In order to build please install the following libraries from the library manager:

• arduino-timer (v. 2.3.0)
• Adafruit ADS1X15 (v. 2.1.1)

The power control board is using an ATSAMD21 MCU, please install Arduino SAMD Boards from the board manager and select Arduino MKRZERO as board.

Now link the libraries of the repository to the Arduino library folder and add the ROS libraries too.

# Create a symbolic link in the Arduino library folder pointing to the smb_powerstatus library
ln -s /path/to/repo/firmware/libraries/smb_libraries $HOME/Arduino/libraries

# Add ros libraries. DON'T FORGET TO SOURCE
cd $HOME/Arduino/libraries
rosrun rosserial make_libraries.py .

Build the firmware with the Arduino IDE and upload it to the MCU

Setup udev rule

Add user to dialout group and copy the rule

sudo adduser $USER dialout
cd /path/to/repository
sudo cp firmware/98-smb-power.rules /etc/udev/rules.d/98-smb-power.rules

Reload the rules

sudo udevadm control --reload-rules
sudo udevadm trigger
sudo ldconfig

Note: check if the device is avaible with ls /dev/smb-power. If there is an error reboot the computer.

Launch smb_powerstatus

To start publish the status launch rosserial with the provided launchfile

roslaunch smb_powerstatus smb_powerstatus.launch