ANROT Tutorial
ROS Melodic Serial Reading Tutorial
Minimal public workflow for exposing ANROT serial output as ROS topics on Ubuntu 18.04 and ROS Melodic.
- ros
- melodic
- ubuntu
- tutorial
Download the example package
Protocol Support
| Protocol / frame | Support | How this example handles it |
|---|---|---|
0x91 IMUSOL | Supported | Publishes /IMU_data (sensor_msgs/Imu). |
0x62 GWSOL | Parse-only, not published | ch_serial has a 0x62 case, but serial_imu.cpp does not publish a topic when the frame is KItemGWSOL. |
0x63 GWSOL Compact | Not supported | There is no compact gateway decoder. |
0x90, 0xA0, 0xB0, 0xC0, 0xD0, 0xD1, 0xF0 | Partially supported | The parser handles loose items; the main node publishes single-device /IMU_data, and pressure is not included in the standard IMU topic. |
Download the ROS Melodic example package.
Test environment
- Ubuntu 18.04
- ROS Melodic
- ANROT serial device available under
/dev/ttyUSB*
Minimal flow
- Confirm the serial device and permissions.
- Install
ros-melodic-serial. - Build the workspace.
- Update the serial port and baud rate as needed.
- Validate raw data,
sensor_msgs/Imu, and rviz visualization.
When this page matters
Use this page for existing Ubuntu 18.04 / ROS Melodic deployments that still need a stable public reference after the legacy resource viewer is retired.