Contents
Overview
The rosserial_python package contains a Python implementation of the host-side rosserial connection. It automatically handles setup, publishing, and subscribing for a connected rosserial-enabled device.
Note that you need to install pyserial for this to work (try pip install pyserial).
Nodes
serial_node.py
Interface to a rosserial-enabled device. This node automatically spins up subscribers and publishers based on the configuration information stored in the device.Parameters
~port (str, default: /dev/ttyUSB0)- Name of port to use.
- Baud rate, in bps.
Examples
To run the node with a different port and baud rate, for example on /dev/ttyACM1, you must specify the ~port and ~baud parameters on the command line:
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM1 _baud:=115200
You can also specify these parameters as part of your launch file:
<launch>
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
<param name="port" value="/dev/ttyACM1"/>
<param name="baud" value="115200"/>
</node>
</launch>