ros_wiring_template

This repository contains a template ROS2 node which implements the Arduino API for I2C (and soon GPIO, SPI and Serial) to enable using Ardunio C++ libraries in order to implement a ROS2 node for specific sensors or actuators.

Using this ROS2 Node Template

1. On Github, select the Use this template button. This will begin creating a fork in your github account.

2. Select a name for your fork, representing the node you are creating. In the examples below, I'll use ros_firefly, but this is your ROS node's name.

3. Once it has been forked into your github account, navigate to your ROS2 workspace.

4. clone your fork into your workspace recursively - git clone --recursive https://github.com/<your github>/ros_firefly

5. Update the following entries in your fork:

   • package.xml - change <name>ros_wiring_template</name> to <name>ros_firefly</name>
   • CMakeLists.txt - change project(ros_wiring_template) to project(ros_firefly)
   • Rename ros_wiring_template.launch.py to ros_firefly.launch.py
   • In ros_firefly.launch.py, change 'ros_wiring_template' to 'ros_firefly'

   Optionally

   • in main.cpp change class I2CPublisher to class ROSFireFly
   • in main.cpp change Node("i2cpublisher") to Node("FireFly")
   • in main.cpp change std::make_shared<I2CPublisher>() to std::make_shared<ROSFireFly>()

6. push your changes to your repository git add * then git push