SPROUT ROS

Source: SPROUT_Design/Code/sprout_ros

ROS 2 stack for SPROUT. Main installation instructions live in the Jetson Bootstrap guide; this page summarizes the package layout.

Package layout
Messages and services
Nodes
Bring-up
Arduino firmware

Package layout

The sprout_ros package (ament_cmake, ROS 2) is organized as follows:

Path	Contents
`arduino/vine_control`	`vine_control_uno_rev3` Arduino sketch that runs on the Uno Rev3 and talks to the shield hardware
`launch/system_bringup.py`	Top-level launch file that brings up the Fort controller, Arduino interface, and LCD screen nodes
`msg/`	`Command.msg` and `State.msg` message definitions
`scripts/`	ROS 2 node implementations (controller drivers, vine interface, display, camera)
`srv/`	`PressureSet.srv` service definition
`resource/`	systemd service unit for auto-starting the stack on boot

Messages and services

Command.msg — teleop command sent to the vine robot driver:

bool toggle_retract
bool grow_speed_inc
bool grow_speed_dec
bool chamber_inc
bool chamber_dec
bool stop_grow
bool estop
float32 steer_ud
float32 steer_lr

State.msg — robot state feedback (pressure sensor and actuator values):

float32 cp_s
float32 a1_s
float32 a2_s
float32 a3_s
float32 cp_a
float32 a1_a
float32 a2_a
float32 a3_a
float32 d_s
float32 d_c
float32 c_m
float32 a_m

PressureSet.srv — request/response for setting a chamber/actuator pressure target:

float32 chamber_val
float32 actuator_val
---
bool success
string message

Nodes

Script	Description
`fort_controller.py`	Reads the Fort Robotics Wireless Controller (FRWC) HID device directly and publishes `sensor_msgs/Joy`
`fort_scm_controller.py`	Publishes `Joy` messages using the `fort_scm` SCM protocol library for the Fort controller
`joy_vine_interface.py`	Bridges `Joy` messages to the vine robot’s Arduino over serial, publishing `sprout_ros/State`
`fort_vine_interface.py`	Variant of the vine interface driver that also exposes the `PressureSet` service
`screen.py`	Drives the onboard status LCD from `sprout_ros/State`

Bring-up

launch/system_bringup.py starts the Fort controller driver, the Arduino/vine interface node, and the LCD screen node together:

Node(package='sprout_ros', executable='fort_scm_controller.py', name='fort_driver', output='screen'),
Node(package='sprout_ros', executable='fort_vine_interface.py', name='jetson_arduino', output='screen'),
Node(package='sprout_ros', executable='screen.py', name='jetson_screen', output='screen'),

Arduino firmware

The vine_control sketch (arduino/vine_control/vine_control/vine_control_uno_rev3) runs on the Arduino Uno Rev3 mounted on the custom shield and is flashed following the Jetson Bootstrap guide.