• Flash pyserial.ino onto Arduino
• Make sure the right port is opened in write_to_serial.py node
• colcon build the serialcomm package in a workspace
• ros2 run serialcomm serialwriter_exec
• ros2 topic pub /drill_commands std_msgs/String "data: 'drill'" -1
• This turns pin 13 LED on, 'stop' will turn it off.
• Connec the relay inputs to pin 13, and the drill will be powered by writing to drill commands topic.
• To integrate with manipulator, the lbr node needs to write to that topic, that's it