OpenAg Wiki Archive

Archived Contents from the original OpenAg Wiki (snapshot on Apr 8, 2020)

The archived wiki only includes information up the v3.0 version of the PFC-EDU, and is here for preservation purposes. You can find resources about the latest version of the PFC v4.0 on the Personal Food Computer resources page.

rosserial Developer Notes

  • Audience: developers
  • Level: advanced

We use the rosserial_arduino ROS package to communicate with the Arduino. It provides a way to talk to the Arduino over typed ROS Topics.

Things to Know & Gotchas

  • rosserial has a hard limit on the number of topics it supports
  • rosserial has a limited buffer size. If you send too many messages, or messages that are too large, it will lose sync with the Arduino.
    • In openag_brain, we use error codes (numbers) rather than error messages for this reason.
  • The Food Computer 2 is right up against the limit in terms of number of topics used and size of messages sent.

Resources & Links