![]() Roscd rosserial_arduino/libraries/ros_libĬp -R duration.cpp time.cpp `(rospack find rosserial_avr_tutorial)`/src/ros_lib/ ![]() We will also need to copy over a number of source files from the rosserial_arduino package: To do this, the signal must go through a simple level shifter:Ĭreate a new ROS package and set up the directory structure we will use:Ĭd rosserial_avr_tutorial & mkdir -p src/ros_lib/ros We will use the Atmega32u4's UART to communicate with the PC's serial port. This tutorial is written for the Atmega32u4, but you can fairly easily substitute other AVR chips by modifying the Makefile and the data registers in the avr_time and avr_uart modules below. You can install avr-binutils, avr-libc, and avr-gcc from source from, and avrdude from. Sudo apt-get install binutils-avr avr-libc gcc-avr avrdude Ubuntu has packages for each utility, but be warned that they lag behind the latest stable versions, and therefore do not always support the latest microcontrollers.
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