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GPIO Port Example

Package 'nsdk_example_gpio':

This package contains two executors: gpio_server and gpio_client.

  1. Executor gpio_server controls the gpio port by using mraa library, when gpio_server get the request from gpio_client, it will read or write the GPIO port.
  • Run the gpio_server of this package by using:
ros2 run nsdk_example_gpio gpio_server
  1. Executor gpio_client calls a request to the gpio_server, and in the request contains 2 or 3 parameters.
  • Run the gpio_client of this package by using.
# Set input to GPIO pin
ros2 run nsdk_example_gpio gpio_client I <gpio_num>
# Set output to GPIO pin
ros2 run nsdk_example_gpio gpio_client O <gpio_num> <value>
  • Remarks: value 0 for high (5V), value 1 for low (0V)
    • In the example for reading the input of pin number 1, you should run the client using:
    ros2 run nsdk_example_gpio gpio_client I 1
    • For setting low voltage(0V) to the output of pin number 34, you should run the client using:
    ros2 run nsdk_example_gpio gpio_client O 34 1