Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

CMake with rosserial_arduino

When you are doing large software projects, the Arduino IDE quickly becomes unwieldy. You often want to be able to compile your project from the command line or use a different IDE like eclipse. By building your rosserial_arduino project using CMake, you can take advantage of both of these tools.

For this tutorial, we are going to make a hello world rosserial_arduino package.

Making Your Project

Making your rosserial_arduino project is just like making any other ROS package. You run

roscreate-pkg helloworld rosserial_arduino std_msgs

As usual, use roscreate-pkg to create a package named helloworld which depends on rosserial_arduino and std_msgs. You must depend on rosserial_arduino and since we are going to use String messages, the package depends on std_msgs.

Souce Code

CMakeList.txt

• sdaf

Testing

# - Generate firmware for rosserial_arduino Devices
# generate_ros_firmware(TARGET_NAME)
#        TARGET_NAME - Name of target
# Creates a Arduino firmware target.
#
# The target options can be configured by setting options of
# the following format:
#      ${TARGET_NAME}${SUFFIX}
# The following suffixes are availabe:
#      _SRCS           # Sources
#      _HDRS           # Headers
#      _LIBS           # Libraries to linked in
#      _BOARD          # Board name (such as uno, mega2560, ...)
#      _PORT           # Serial port, for upload and serial targets [OPTIONAL]
#      _AFLAGS         # Override global Avrdude flags for target
#      _SERIAL         # Serial command for serial target           [OPTIONAL]
#      _NO_AUTOLIBS    # Disables Arduino library detection
#      _CUSTOM_COM     # use a custom implementation of fx_putc and fx_getc for rosserial

# Here is a short example for a target named test:
#       set(test_SRCS  test.cpp)
#       set(test_HDRS  test.h)
#       set(test_BOARD uno)
#       generate_ros_firmware(test)

Additional Info

rosserial_arduino CMake implementation is found under rosserial_arduino/cmake_scripts. It is based on this arduino-cmake project. You should never need to edit these files. You just need to include them into your CMakeList