Ros2 Cartographer Setup(3)_esp32_connection test

Before setup, we setup just on jetson nano
So, we are going to set esp32 dev module.

Development env

• Jetson Nano B01
• ESP32-WROOM_32D
• Arduino IDE

1. Compile this code on Arduino IDE.

void setup() {
  Serial.begin(115200); // same Jetson Nano board rate}

void loop() {
  if (Serial.available() > 0) {
    String command = Serial.readStringUntil('\n');
    Serial.println("Received: " + command);
    // add motor control logic 
    if (command == "forward") {
      // you should edit code about motor move forward for moving robot
    } else if (command == "backward") {
      // motor move back
    }
    // if need, you can edit any movement
  }
}

2. Node launch & Test

ros2 run serial_communication serial_node

+) Transfer Command via topic

ros2 topic pub /motor_commands std_msgs/String "data: 'forward'"

3. User permissions settings

sudo usermod -a -G dialout $USER

See the log on "serial_node" is activated terminal , you can see respond on ESP32