ros.txt

0. install OS
Ubuntu 12.04 LTS

user: user
pswd: 1

1. install 
make cmake g++ mc openssh-server

2. network
static IP: 192.168.0.4

3.
# add user to group dialout (to work with /dev/ttyUSB0 (Arduino))
sudo usermod -a -G dialout user


4. Arduino naming:
http://robocraft.ru/blog/arduino/2985.html

for example:
drive controller - ttyUSB0
sensor controller - ttyUSB1

edit configuration file:
ros_4wd_driver\config\4wd_params.yaml

set names:
drive_port: /dev/ttyUSB0
sensor_port: /dev/ttyUSB1



5. Execution

in different terminals

5.1
roscore

5.2
cd catkin_ws
source devel/setup.bash
roslaunch ros_4wd_driver 4wd.launch

5.3
cd catkin_ws
source devel/setup.bash
rosrun ros_4wd_driver robot_4wd_key

5.3.1
before run robot_4wd_key you may change velocity scale:
rosparam set /robot_4wd_teleop/scale_angular 2.0
rosparam set /robot_4wd_teleop/scale_linear 2.0

or when starting node:
rosrun ros_4wd_driver robot_4wd_key _scale_angular:=2.0 _scale_linear:=2.0

5.4 drive separate motor

rosservice call /motor_write 0 100
rosservice call /motor_write 1 -- -100
rosservice call /motor_write 2 100
rosservice call /motor_write 3 -- -100