ros_arduino_bridge封装了通过串口于底盘控制器Arduino的通信，并提供了一个标准的base controller，所以对arduino资源的占用非常小，arduino只是作为一个单纯的硬件控制器来使用，而所有的运算逻辑都放在上位机进行，通过串口指令的方式控制Arduino程序的运行。

一. ros_arduino_bridge的安装

1 修改环境变量

source /opt/ros/indigo/setup.bash
roscore

2.下载编译

cd ~/catkin_ws/src
git clone https://github.com/hbrobotics/ros_arduino_bridge.git
cd ..
catkin_make

3.拷贝ros_arduino_bridge/ros_arduino_firmware/src/libraries/ROSArduinoBridge文件到arduino IDE的库文件下

sudo cp -r home/fa/catkin_ws/src/ros_arduino_bridge/ros_arduino_firmware/src/libraries/ROSArduinoBridge  /mnt/usb  
sudo cp -r home/fa/catkin_ws/src/ros_arduino_bridge/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu  /mnt/usb