ROS2 serial connection package for communicating with DexHand firmware across a USB Serial Connection
This package is a ROS 2 node that provides a communication bridge between ROS 2 and a USB Serial connection to the firmware running on the DexHand microcontroller. This firmware is available on GitHub Here - DexHand-BLE Repository.
The package is pretty simple, there are really two messages - input and output. These are tied to debug functions that are built into the firmware.
dexhand_hw_command - (Subscribed) Sends a string based command to the firmware via USB. The commands supported by the firmware are described here.
dexhand_hw_response - (Published) Publishes string messages sent by the firmware back to ROS 2
To run the package:
ros2 run dexhand_usb_serial usb_serial
By default, it assumes the Arduino is connected to /dev/ttyACM0, and attempts to connect there. You can override this port by specifying the serial_port parameter on the command line.