After uploading the embedded code to Launchpad, the next step is to handle the serial data from Launchpad and convert it to ROS Topics for further processing. The
launchpad_node.py ROS Python driver node interfaces Tiva C LaunchPad to ROS. The
launchpad_node.py file is on the
script folder, which is inside the
chefbot_bringup package. The following is the explanation of
launchpad_node.py in important code sections:
#ROS Python client import rospy import sys import time import math #This python module helps to receive values from serial port which execute in a thread from SerialDataGateway import SerialDataGateway #Importing required ROS data types for the code from std_msgs.msg import Int16,Int32, Int64, ...