Fhis is the ros2 node for belt_speed_publisher for yumo encoder e6a2-cw3c.

First upload https://github.com/nilupul-tsukarm/belt_speed_publisher_ros2_arduino to arduino.

cd ~/ros2_ws/src

git clone https://github.com/nilupul-tsukarm/belt_speed_publisher.git

check Arduino's serial port using . $ cd /dev/ /dev$ ls

change belt_speed_publisher/belt_speed_publisher.py line 10.

self.serial_port = serial.Serial('/dev/ttyACM0', 115200, timeout=1) # Change to your Arduino's serial port.

cd ~/ros2_ws

colcon build --packages-select belt_speed_publisher

source ~/ros2_ws/install/setup.bash

Test the Package:

ros2 launch belt_speed_publisher belt_speed.launch.py