Ros Tutorials: Communications Node V1

Let's keep on moving...

Here is the next installment in the ROS Tutorials series. Today, we are going to be writing a ROS node to control the Mega from Twist messages. Last time we defined a serial protocol for communicating motor data. First, the computer sends 0x41 to start a new message. Then the computer sends two bytes, one for the linear axis, and one for the angular. This then gets translated to servo movements that are then sent to the Sabertooth.
So here is the code:

The next step is to calibrate it and make sure that everything works.
That's all for now!