In the last two chapters, we discussed different kinds of plugin frameworks that are used in ROS. In this chapter, we are going to discuss interfacing of some hardware components, such as sensors and actuators to ROS. We will see interfacing of sensors using I/O boards such as Arduino, Raspberry Pi, and Odroid-C1 to ROS, and also discuss interfacing of smart actuators such as Dynamixel to ROS. Following is the detailed list of topics we are going to cover in this chapter:

• Understanding the Arduino-ROS interface
• Setting up the Arduino-ROS interface packages
• Arduino-ROS ,example-Chatter and Talker
• Arduino-ROS , example-blink LED and push button
• Arduino-ROS , example-Accelerometer ADXL 335
• Arduino-ROS, example-ultrasonic distance sensor
• Arduino-ROS, example-Odometry Publisher
• Interfacing a non-Arduino board to ROS
• Setting ROS on Odroid-C1 and Raspberry Pi 2
• Working with Raspberry Pi and Odroid GPIOs using ROS
• Interfacing Dynamixel actuators to ROS