Write Python ROS (Robot Operating System) Publisher/Subscriber Nodes and Interface with Arduino 

#ros #roboticoperatingsystem #robotics #mechatronics #mechanicalengineering #controltheory #controlengineering #controlsystems #machinelearning #electricalengineering #optimization
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In this Robot Operating System (ROS) tutorial, we explain how to:
1. Write a ROS Python node that will publish (send) messages to Arduino. The Python publisher node will publish messages to a topic, and Arduino will subscribe to the same topic.
2. Write Arduino code that will interpret these messages, change them, and publish them to another topic.
3. Write a ROS Python node that will subscribe itself to a topic, and that will receive the messages back from Arduino.
The significance of this tutorial is in fact that this type of communication is often used in a control system for a mobile robot. Namely, a low-level Arduino microcontroller will control actuators/motors and receive information from sensors. The Arduino microcontroller should receive commands from a higher-level controller. For example, a higher-level controller controlling a mobile robot determined that the center of the mass of the robot should move to the new location. It sends the x and y coordinates of the desired position of the center of the mass to Arduino. Arduino then needs to control the motors such that the robot actually moves to the desired location. At the same time, Arduino needs to send back to the higher-level controller the current robot position and orientation while the robot is moving.