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DHT Humidity and Temperature Sensor
Description: In this tutorial, we will use a Mbed and a DHT Humidity and Temperature Sensor.Tutorial Level: BEGINNER
Next Tutorial: Motor Shield Example
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rosserial allows you to easily integrate Mbed-based hardware with ROS. This tutorial will explain how to use a DHT Humidity and Temperature Sensor with an Mbed.
You will need an Mbed, a Humidity and Temperature Sensor, and a way to connect your Sensor to your Mbed to your Mbed such as a breadboard, protoboard or Grove Base Shield.
The Code
Open the Humidity and Temperature Sensor example placed on your previously downloaded rosserial/rosserial_mbed/examples directory, and open the GrovePIRMotionSensor.cpp file in your favorite text editor:
1 /*
2 * rosserial Temperature and Humidity Sensor Example
3 *
4 * This tutorial demonstrates the usage of the
5 * Seeedstudio Temperature and Humidity Grove module
6 * http://www.seeedstudio.com/wiki/Grove_-_Temperature_and_Humidity_Sensor
7 *
8 * Source Code Based of:
9 * https://developer.mbed.org/teams/Seeed/code/Seeed_Grove_Temp_Humidity_Example/
10 */
11
12 #include "mbed.h"
13 #include "DHT.h"
14 #include <ros.h>
15 #include <sensor_msgs/Temperature.h>
16 #include <sensor_msgs/RelativeHumidity.h>
17
18 ros::NodeHandle nh;
19
20 sensor_msgs::Temperature temp_msg;
21 sensor_msgs::RelativeHumidity humidity_msg;
22 ros::Publisher pub_temp("temperature", &temp_msg);
23 ros::Publisher pub_humidity("humidity", &humidity_msg);
24
25 Timer t;
26 #ifdef TARGET_LPC1768
27 DHT sensor(p9, AM2302);
28 #elif defined(TARGET_KL25Z) || defined(TARGET_NUCLEO_F401RE)
29 DHT sensor(D6, AM2302);
30 #elif defined(TARGET_NUCLEO_F401RE)
31 DHT sensor(A6, AM2302);
32 #else
33 #error "You need to specify a pin for the sensor"
34 #endif
35
36 int main()
37 {
38 int error = 0;
39 t.start();
40
41 nh.initNode();
42 nh.advertise(pub_temp);
43 nh.advertise(pub_humidity);
44
45 long publisher_timer = 0;
46 temp_msg.header.frame_id = "/base_link";
47 humidity_msg.header.frame_id = "/base_link";
48
49 while (1)
50 {
51
52 if (t.read_ms() > publisher_timer)
53 {
54 error = sensor.readData();
55 if (0 == error)
56 {
57 temp_msg.temperature = sensor.ReadTemperature(CELCIUS);
58 temp_msg.header.stamp = nh.now();
59 pub_temp.publish(&temp_msg);
60
61 humidity_msg.relative_humidity = sensor.ReadHumidity();
62 humidity_msg.header.stamp = nh.now();
63 pub_humidity.publish(&humidity_msg);
64 }
65 publisher_timer = t.read_ms() + 1000;
66 }
67 nh.spinOnce();
68 }
69 }
Compiling and uploading the Code
As seen on the previous tutorial, you must compile the source code by using the makefile in order to generate the .bin file that will be uploaded later to your MBED board. This is no different from uploading any other mbed binary.
Launching the App
Launch roscore
$ roscore
Run the serial node with the right serial port corresponding to your MBED board
$ rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0
$ rosrun rosserial_python serial_node.py /dev/ttyUSB0
Now watch the sensor's value on the pushed topic
$ rostopic echo /temperature
or
$ rostopic echo /humidity
