swarmBots-ipa / pico_serial_publisher

Package to collect data from serial port connected to pico and publish it to ros environment

Initial setup

• clone this repo
• connect pico to pc and configure interpreter and update micropython from Thonny
• copy adc_power_meter.py and main.py to Thonny backend and save it in pico
• now close Thonny and reset your picoYour Title
• the program will be saved and runs as soon as the power is connected
• pico uses /dev/ttyACM0 port for serial communication by default check if this port is visible

Build and run package

• build this package colcon build
• source install/setup.bash
• ros2 run serial_publisher serial_publisher

Pin config

• pico (36) ----> ACS712 (VCC)
• pico (38) ----> ACS712 (GND)
• pico (31)(GPIO26 - A0) ----> ACS712 (OUT)