🔥 Temp Control Module — ROS 2 Humble Integration (UART Bridge)

Overview

This repository provides the ROS 2 Humble integration layer for the main temperature control platform:

👉 Main embedded project (hardware + firmware + control)
https://github.com/CrissCCL/Temp_ControlMod

It runs on a Raspberry Pi and bridges an embedded controller (Teensy/MCU) to ROS 2 via UART, enabling:

• Real-time telemetry streaming
• Remote setpoint commands
• Online control performance metrics
• Logging, visualization, and data analysis

✨ Features

• Bidirectional UART ↔ ROS 2 communication
• Real-time telemetry (~100 Hz, limited by UART bandwidth)
• Remote setpoint commands
• Online control metrics (IAE, ISE, ITAE, RMSE, overshoot, settling time)
• rosbag logging support
• Embedded + middleware architecture
• Designed for control engineering education and experimentation

📂 Contents

ROS 2 (middleware layer)

• /uart_ros_bridge/ → UART bridge + control metrics nodes
• /launch/ → system launch files
• /scripts/ → offline utilities (CSV merge, analysis)
• /docs/ → diagrams and screenshots
• /notebooks/ → data analysis (optional)

Embedded firmware

• /control_temp_LC3/ → Teensy / Arduino firmware (compiled independently, not part of colcon build)

Package configuration

• package.xml
• setup.py

🏗️ Architecture

🔧 Hardware Setup

Physical connections:

• Teensy → temperature sensor + actuator (heater/fan)
• UART (Serial1) → Raspberry Pi
• Raspberry Pi → ROS 2 nodes (bridge + metrics + visualization)

🔌 Embedded Firmware (Teensy)

The Teensy executes the real-time PI temperature control loop and communicates with ROS 2 using a simple ASCII UART protocol.

Telemetry (MCU → ROS)

temp,u,ref\n

Command (ROS → MCU)

REF:<value>\n

Where:

• temp → measured temperature
• u → control effort
• ref → active setpoint

UART settings

• Serial1
• 57600 baud
• 8N1

Firmware is compiled with Arduino/Teensyduino and runs independently from ROS.

🎯 Use Cases

• Control systems laboratories
• Embedded–ROS integration
• Controller tuning and identification
• Digital twin experimentation
• Teaching automatic control

📊 Results / Visualization

Step response (rqt_plot)

Runtime environment (Raspberry Pi + ROS nodes)

📡 ROS Topics

Published

Topic	Type	Description
/temp	Float32	Temperature measurement
/u	Float32	Control effort
/ref	Float32	Active setpoint
/temp_u_ref	String	Raw telemetry line
/control_metrics	String	Online performance metrics

Subscribed

Topic	Type	Description
/ref_cmd	Float32	New setpoint command

🔌 UART protocol

MCU → RPi (ROS)
Line format (ASCII):

temp,u,ref\n

RPi (ROS) → MCU
Command format (ASCII):

REF:<value>\n

Default port/baud (editable in the node file):

• Port: /dev/serial0
• Baud: 57600

⚙️ Requirements

• Ubuntu 22.04 + ROS 2 Humble
• Python 3
• pyserial

Install pyserial:

pip3 install pyserial

Tip (serial permissions): add your user to dialout

sudo usermod -a -G dialout $USER
# logout/login

🧱 Build (colcon)

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone <THIS_REPO_URL> uart_ros_bridge_repo
cd ..
colcon build
source install/setup.bash

▶️ Run

Option A — Launch (recommended)

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch uart_ros_bridge system.launch.py

Option B — Run nodes manually

UART bridge:

ros2 run uart_ros_bridge uart_temp_to_ros

Metrics:

ros2 run uart_ros_bridge control_metrics

Send a new setpoint:

ros2 topic pub /ref_cmd std_msgs/msg/Float32 "{data: 40.0}"

Quick check:

ros2 topic echo /temp
ros2 topic echo /control_metrics

Plot:

rqt_plot /temp /ref /u

🚀 Quick Test (5-minute demo)

1️⃣ Launch system

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch uart_ros_bridge system.launch.py

2️⃣ Check telemetry (raw UART frame)

ros2 topic echo /temp_u_ref

3️⃣ Check individual signals

ros2 topic echo /temp
ros2 topic echo /u
ros2 topic echo /ref

4️⃣ Change setpoint (one-shot)

ros2 topic pub --once /ref_cmd std_msgs/msg/Float32 "{data: 40.0}"

5️⃣ Visualize response

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
rqt

You should observe:

• temperature tracking the reference
• control effort reacting to the error
• stable closed-loop behavior

📁 Utilities

Merge exported CSV (offline analysis)

If you export ROS bag topics to CSV files (e.g., temp.csv, u.csv, ref.csv), you can merge them:

python3 scripts/merge_temp_u_ref_csv.py

🔗 Related repositories

• Embedded firmware (MCU / control loop)
• 👉 https://github.com/CrissCCL/Temp_ControlMod

🤝 Support projects

Support me on Patreon https://www.patreon.com/c/CrissCCL

📜 License

MIT License