<> <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage rosserial_xbee provides a simple way to wirelessly connect custom sensors and actuators to ROS. It creates a point to multi-point network using XBees. Each hardware node uses an XBee and a microcontroller running rosserial to communicate to a network coordinator XBee connected to a ROS computer. {{attachment:rosserial_network.jpg}} Example network diagram. Each hardware node could be a separate temperature sensor, rfid reader, ultrasounic ranger, clap detector, etc... Using rosserial_xbee, you can set up a network of sensors around your home to report back to ROS or just use it to wirelessly control a homebrew robot. There are two main tools provided : setup_xbee.py and xbee_network. == setup_xbee.py == setup_xbee.py is configuration script for Xbees. It takes factory fresh xbee and programs it to work with your rosserial network. If XBee is not factory fresh, use Digi's X-CTU software to program it. {{{ ./setup_xbee.py [options] port my_adr port : serial port of port of the xbee (/dev/ttyUSB0) my_adr: MY address is the 16 bit address of this xbee in the network. This must be a unique address in the network. This address is always 0 for the coordinator. Options: -h, --help show this help message and exit -P PAN_ID, --pan_id=PAN_ID Pan ID of the xbee network. This ID must be the same for all XBees in your network. -c CHANNEL, --channel=CHANNEL Frequency channel for the xbee network. The channel value must be the same for all XBees in your network. -C, --coordinator Configures the XBee as Coordinator for the network. Only make the XBee connected to the computer a coordiantor }}} == xbee_network.py == This node connects to the master xbee, takes the rosserial communication from all of the rosserial devices and forwards it to the rest of ROS. It subscribes / publishes any topic requested by its hardware nodes {{{ ./xbee_network.py ID1 [ ID2 ID3 ....] }}} To run xbee_network.py, supply as arguments to the scrip the xbee's serial port and the ID # of all of the hardware node xbees. These IDs were programed into the xbee using setup_xbee.py or Digi's X-CTU software.