sbus_ros2

I ported sbus_serial to ROS2.

Build

colcon build --symlink-install

Launch the node

ros2 launch sbus_bridge sbus_bridge_node_launch.py

Config

See src/sbus_bridge/config/params.yaml

Use this on the Jetson Nano

1. Add a permission to connect an UART port.

sudo gpasswd --add ${USER} dialout
sudo chmod 666 /dev/ttyTHS1

2. Make sure the receiver outputs the S.bus signal.
3. You can check the raw output:

./install/sbus_bridge/lib/sbus_bridge/sbus_calib /dev/ttyTHS1

/dev/ttyTHS1 should be set as the available UART port.

Schematics