I am using raspberry pi with ubuntu installed in it. An Arduino is being used to interface sensors and motors. I have SSHed the raspberry pi and tried to compile an ROS library(ros.h) dependent Arduino code in terminal (IDE is not used) and ended up in the following error
Command used : make
/usr/share/arduino/hardware/tools/avr/bin/avr-g++ -x c++ -include Arduino.h -MMD -c -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=105 -I. -I/usr/share/arduino/hardware/arduino/cores/arduino -I/usr/share/arduino/hardware/arduino/variants/standard -Wall -ffunction-sections -fdata-sections -Os -fno-exceptions teleop.ino -o build-uno/teleop.o
teleop.ino:1:17: fatal error: ros.h: No such file or directory
#include
^
compilation terminated.
make: *** [build-uno/teleop.o] Error 1
**Edit 1:** I have followed the below steps to create and build the Arduino cod ein SSH. I am aware that the dependent file ros_lib is not available in the directory so the error is popping up. How to resolve it?
**Note:**
1. I copied ros_lib folder to the libraries folder in mysketchbook folder but it didn't help.
2. The code is successfully compiling and uploading in in Arduino IDE
$:mkdir ~/mysketchbook
$:cd ~/mysketchbook
$:ln -s /usr/share/arduino/Arduino.mk
$:mkdir teleop
$:cd teleop
$:sudo nano teleop.ino
My arduino code is as follows
#include
#include
#include
///Left Motor Pins
#define INA_1 7
#define INB_1 12
#define PWM_1 5
///Right Motor Pins
#define INA_2 11
#define INB_2 10
#define PWM_2 6
void printCurrentSensing(void);
float angInput;
float velInput;
void setup()
{
//Setting Left Motor pin as OUTPUT
pinMode(INA_1,OUTPUT);
pinMode(INB_1,OUTPUT);
//Setting Right Motor pin as OUTPUT
pinMode(INA_2,OUTPUT);
pinMode(INB_2,OUTPUT);
}
ros::NodeHandle nh;
void chatterCallback ( const geometry_msgs::Twist &msg) {
velInput = msg.linear.x;
angInput = msg.angular.z;
}
void loop(){
//SETTING THE LIMITS ON THE SPEED
if(velInput>0){
digitalWrite(INA_1,HIGH);
digitalWrite(INB_1,LOW);
analogWrite(PWM_1,100);
//Right Motor
digitalWrite(INA_2,LOW);
digitalWrite(INB_2,HIGH);
analogWrite(PWM_2,100);
}
if(velInput<0){
digitalWrite(INA_1,LOW);
digitalWrite(INB_1,HIGH);
analogWrite(PWM_1,100);
//Right Motor
digitalWrite(INA_2,HIGH);
digitalWrite(INB_2,LOW);
analogWrite(PWM_2,100);
}
if(angInput>0){
digitalWrite(INA_1,HIGH);
digitalWrite(INB_1,LOW);
analogWrite(PWM_1,100);
//Right Motor
digitalWrite(INA_2,HIGH);
digitalWrite(INB_2,HIGH);
analogWrite(PWM_2,100);
}
if(angInput<0){
digitalWrite(INA_1,HIGH);
digitalWrite(INB_1,HIGH);
analogWrite(PWM_1,100);
//Right Motor
digitalWrite(INA_2,LOW);
digitalWrite(INB_2,HIGH);
analogWrite(PWM_2,100);
}
}
$:sudo nano Makefile
My make file code is as follows
BOARD_TAG = uno
ARDUINO_PORT = /dev/ttyACM0
ARDUINO_LIBS =
ARDUINO_DIR = /usr/share/arduino
include ../Arduino.mk
$: make
↧