The Arduino Mega that operate at 16 Mhz can communicate wit baudrate up to 2M bits per seconds (bps) and other boards such as Teensy 3.2 can go up to 4.6 Mbps. This rate is not the maximum that Arduino can achieve, and when there is a lot of information that need to sent back to ROS, the baudrate can become the bottleneck. Because the Serial1 can not communicate directly with the computer, we use a UART to USB bridge ( FTDI board).īy default the rosserial uses 57600 as the baudrate for communication.

But for this tutorial, we will be using the Serial1. Normally, we use Serial to communicate with Arduino Mega, as Serial is connected to the UART to USB bridge, and shows as the port we see on the computer. While we might never need change those numbers for Arduino Mega as the default value is plenty enough, for smaller board that has limited SRAM, we would need to reduce the memory usage.įor the sake for demonstrating how to do it, we will decrease the number of publisher/subscriber from 25/25 to 10/15, and the input/output buffer size for 512/512 bytes to 128/256 bytes. This enable us to have more Publishers/Subscribers and use bigger messages. Publisher/Subscriber Numbers and Input/Output BuffersĪrduino Mega has 8 kB of SRAM, much more than most of the other Arduino boards (Uno has 2 kB, Leonardo has 2.5 kB). Some jumper wire to connect both devices.In this tutorial, we will be changing both the file to demonstrate some of the advanced settings.įTDI Breakout board or similar UART to USB bridge The rosserial_arduino package is designed to work out-of-box for many users, but users might need to change the ros.h and the ArduinoHardware.h to better suit their need. Description: This tutorial shows step by step how to configure NodeHandle and ArduinoHareware to better suit user needs. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.Īdvanced Configuration for NodeHandle and ArduinoHardware. Please ask about problems and questions regarding this tutorial on.

Arduino wire library change baud rate