WEBVTT 00:00.170 --> 00:06.170 We can finally test our transmitter node and see how it is possible to receive messages from the Arduino 00:06.170 --> 00:08.890 board and make them available in Ros. 00:08.900 --> 00:09.920 Two topics. 00:10.490 --> 00:11.330 To do this. 00:11.360 --> 00:19.550 Let's open the Arduino IDE and let's start by connecting the Arduino board to our PC using a USB cable. 00:24.070 --> 00:25.930 Next in the Arduino IDE. 00:26.260 --> 00:30.620 Let's check the port to which our Arduino has been connected. 00:30.640 --> 00:34.450 So in my case, this is the ACM zero port. 00:34.630 --> 00:41.830 And now, since we have already uploaded the code within our Arduino board, we can close this one and 00:41.830 --> 00:44.590 instead we can start running our node. 00:44.950 --> 00:52.150 So to do so, we can open a new terminal and we can go into the workspace here. 00:52.150 --> 00:53.320 Let's source it. 00:53.440 --> 00:57.760 So the file setup dot bash that is in the install folder. 00:58.000 --> 01:00.340 And now let's start our node. 01:00.370 --> 01:02.770 So Ros to run. 01:02.980 --> 01:11.710 And from the Arduino boot firmware package, let's start the simple serial. 01:13.700 --> 01:14.300 Receiver. 01:14.300 --> 01:18.420 Note here I'm running the cplusplus implementation of this node. 01:18.440 --> 01:24.500 But if you want, you can start the python implementation by adding the suffix.py. 01:26.010 --> 01:30.930 But before running the node, we also need to set the parameter port. 01:30.930 --> 01:36.030 So we need to set a value for the parameter port of the simple serial receiver node. 01:36.270 --> 01:42.600 So we do this with the flag Ross args, and then let's pass a parameter. 01:43.470 --> 01:50.400 And so we set the parameter for the port that in my case is the ACM zero port. 01:50.790 --> 01:57.900 So let's press enter and upon starting this node, initialize the serial communication with the Arduino 01:57.900 --> 02:04.590 on the specified port and also listen for any new messages that are sent by the Arduino to publish them 02:04.590 --> 02:06.480 within our Ros2 topic. 02:06.660 --> 02:09.930 We can actually see that this topic already exists. 02:10.110 --> 02:18.330 If we open a new terminal and if we use the command Ros2 topic list, we can see that there is the topic 02:18.330 --> 02:23.940 serial receiver and also we can see which are the messages that are passing through this topic with 02:23.940 --> 02:27.570 the command Ros2 Topic ACO. 02:27.690 --> 02:35.550 And let's read from the serial receiver topic and here we can see all the messages that the Arduino 02:35.550 --> 02:39.000 is sending to our PC through the serial port. 02:39.000 --> 02:42.420 And so they are then republished within this ros2 topic.