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We are going to use a Makefile to build the firmware and program the Atmega32u4 (this means it will not be part of the rosbuild system). Open a terminal, and in the rosserial_avr_tutorial/src directory run: We have to generate message headers for std_msgs and rosserial_msgs (see Generating Message Header Files). Ros::Publisher chatter('chatter', &str_msg) Needed for AVR to use virtual functionsД®xtern 'C' void _cxa_pure_virtual(void) Include C headers (ie, non C++ headers) in this block The chatter program we are writing is an adaptation of the rosserial_arduino Hello World (example publisher) tutorial: Read a byte of data from ROS connection. To use rosserial with our AVR, we have to define a new hardware header as outlined in the Adding Support for New Hardware tutorial: Get one char if available, otherwise -1 Void avr_uart_send_byte(uint8_t tx_byte) The avr_uart module sets up the AVR's UART and can send and receive data. The avr_time module uses an interrupt to count the number of timer overflows since the program started running, and converts it into milliseconds.ДЎ # include 'avr_time.h' 2 # include 3 # include 4 5 # define CLOCK_TICKS_PER_MS F_CPU / 1000UL 6 // Timer0 is 8 bits and is prescaled by 64 7 # define CLOCK_TICKS_PER_TIMER0_OVERFLOW 64UL * 256UL 8 9 volatile static uint32_t timer0_ticks = 0 10 volatile static uint32_t overflow_ms = 0 11 12 // The Timer0 overflow interrupt handler 13 ISR( TIMER0_OVF_vect) 14 We will do that by writing two modules: avr_time and avr_uart. The rosserial_client interface requires that you implement a function that returns the milliseconds since the start of the program, and the communications send/receive functions. Roscd rosserial_arduino/libraries/ros_libД¬p -R duration.cpp time.cpp `(rospack find rosserial_avr_tutorial)`/src/ros_lib/ We will also need to copy over a number of source files from the rosserial_arduino package: To do this, the signal must go through a simple level shifter:Д¬reate a new ROS package and set up the directory structure we will use:Д¬d rosserial_avr_tutorial & mkdir -p src/ros_lib/ros

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We will use the Atmega32u4's UART to communicate with the PC's serial port. This tutorial is written for the Atmega32u4, but you can fairly easily substitute other AVR chips by modifying the Makefile and the data registers in the avr_time and avr_uart modules below.

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You can install avr-binutils, avr-libc, and avr-gcc from source from, and avrdude from. Sudo apt-get install binutils-avr avr-libc gcc-avr avrdude Ubuntu has packages for each utility, but be warned that they lag behind the latest stable versions, and therefore do not always support the latest microcontrollers.

avrdude: A utility to program the Flash and EEPROM of AVRs.

avr-libc: The C runtime library for the AVR family of microcontrollers.avr-binutils: The low-level utilities to build and manipulate object files.This tutorial will assume you have the following tools installed: You will first have to set up your AVR development environment.

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You can download the full source code for this tutorial here: