rosserial bluetooth teensy problem

[jordiguerrero]

Hello,

I'm trying to use rosserial with Teensy 3.5 through bluetooth.

My first step: change the serial port from Serial to Serial1.

I follow the thread:
https://answers.ros.org/question/19...he-arduino-side/?answer=295159#post-id-295159

It compiles with Arduino Mega board but no with Teensy 3.5 (or other Teensy boards)

----------

I use:
Ubuntu 16.04, Kinetic ros, Arduino 1.8.5
The Hello World example code:
http://wiki.ros.org/rosserial_arduino/Tutorials/Hello World

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I tried to ways:
1. Modify the line 73 in the code arduino.1.8.5/libraries/ros_lib/ArduinoHardware.h

      iostream = &Serial1;

2. Replace:

ros::NodeHandle nh;

with:

class NewHardware : public ArduinoHardware
{
  public:
  NewHardware():ArduinoHardware(&Serial1, 57600){};
};
ros::NodeHandle_<NewHardware>  nh;

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The error when I try to compile is:

.../arduino-1.8.5/libraries/ros_lib/ArduinoHardware.h:67:5: note:   no known conversion for argument 1 from 'HardwareSerial*' to 'usb_serial_class*'
no matching function for call to 'ArduinoHardware::ArduinoHardware(HardwareSerial*, int)'

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ArduinoHardware.h:
http://docs.ros.org/jade/api/rosserial_arduino/html/ArduinoHardware_8h_source.html

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Can anyone help me? Thank you in advance

 

[Theremingenieur]

From looking at the source code of ArduinoHardware.h, I see that all definitions for the Teensy 3.x and LC processors are there, but I don't see #define USE_TEENSY_HW_SERIAL in your sketch before you #include <ros.h> ...

 

[jordiguerrero]

O.M.G. ...
I'm very ashamed. It was a silly mistake :_(.
With your correction the code compiles. Let me check with my Bluetooth before I close the thread.

Thank you theremingenieur!

 

[Theremingenieur]

Happy that I could help.