ubuntu环境下实现ROS 2 与 Arduino 通信

本教程为https://blog.csdn.net/2301_81924597/article/details/141757091?spm=1001.2014.3001.5501的进一步拓展

ROS 2 与 Arduino 通信指南

准备工作

1. 确保已安装 ROS 2（本指南基于 ROS 2 Humble）
2. 确保已安装 Arduino IDE 并能正常使用
3. 安装必要的 ROS 2 包：

   sudo apt install ros-humble-serial-driver
   

Arduino 端设置

1. 打开 Arduino IDE，创建新项目
2. 将以下代码复制到 Arduino IDE 中：

#include <Arduino.h>

void printMenu() {
  Serial.println("\n--- Arduino Menu ---");
  Serial.println("1. Say Hello");
  Serial.println("2. Get Arduino Uptime");
  Serial.println("3. Blink LED");
  Serial.println("Enter your choice:");
}

void setup() {
  Serial.begin(9600);
  while (!Serial) {
    ; // Wait for serial port to connect (needed for native USB port only)
  }
  delay(1000); // 添加一个短暂的延迟
  Serial.println("Arduino ready for communication!");
  pinMode(LED_BUILTIN, OUTPUT);
  printMenu();
}

void loop() {
  if (Serial.available() > 0) {
    char choice = Serial.read();
  
    // Clear the serial buffer
    while(Serial.available() > 0) {
      Serial.read();
    }
  
    switch(choice) {
      case '1':
        Serial.println("Hello from Arduino!");
        break;
      case '2':
        Serial.print("Arduino uptime: ");
        Serial.print(millis() / 1000);
        Serial.println(" seconds");
        break;
      case '3':
        Serial.println("Blinking LED 3 times...");
        for(int i = 0; i < 3; i++) {
          digitalWrite(LED_BUILTIN, HIGH);
          delay(500);
          digitalWrite(LED_BUILTIN, LOW);
          delay(500);
        }
        Serial.println("Blinking complete!");
        break;
      default:
        Serial.println("Invalid choice. Please try again.");
    }
  
    printMenu();
  }
}

3. 将代码上传到 Arduino

ROS 2 端设置

1. 创建一个新的 ROS 2 包（如果还没有）：

   mkdir ros2_ws/src/arduino_communication
   cd ros2_ws/src/arduino_communication
   ros2 pkg create --build-type ament_cmake arduino_communication
   

2. 在 arduino_communication 包中创建 src/arduino_serial_node.cpp 文件，并添加以下代码：

#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <serial_driver/serial_driver.hpp>
#include <vector>
#include <string>

using drivers::serial_driver::SerialDriver;
using drivers::serial_driver::SerialPortConfig;
using drivers::common::IoContext;

class ArduinoSerialNode : public rclcpp::Node {
public:
    ArduinoSerialNode()
        : Node("arduino_serial_node")
    {
        // 创建 IoContext
        io_context_ = std::make_shared<IoContext>(1);

        // 创建 SerialPortConfig
        auto device_config = std::make_shared<SerialPortConfig>(
            9600,
            drivers::serial_driver::FlowControl::NONE,
            drivers::serial_driver::Parity::NONE,
            drivers::serial_driver::StopBits::ONE
        );

        // 创建 SerialDriver
        serial_driver_ = std::make_unique<SerialDriver>(*io_context_);

        // 打开串口
        try {
            serial_driver_->init_port("/dev/ttyACM0", *device_config);
            serial_driver_->port()->open();
            RCLCPP_INFO(this->get_logger(), "Serial port opened successfully");
        } catch (const std::exception &ex) {
            RCLCPP_ERROR(this->get_logger(), "Error opening serial port: %s", ex.what());
            return;
        }

        // 创建定时器和发布者
        timer_ = this->create_wall_timer(
            std::chrono::milliseconds(100),
            std::bind(&ArduinoSerialNode::timer_callback, this));

        publisher_ = this->create_publisher<std_msgs::msg::String>("arduino_data", 10);
    }

private:
    void timer_callback() {
        std::vector<uint8_t> buffer(256);
        size_t bytes_read = 0;

        try {
            bytes_read = serial_driver_->port()->receive(buffer);
        } catch (const std::exception &ex) {
            RCLCPP_ERROR(this->get_logger(), "Error reading from serial port: %s", ex.what());
            return;
        }

        if (bytes_read > 0) {
            std::string data(buffer.begin(), buffer.begin() + bytes_read);
            process_and_publish_data(data);
        }
    }

    void process_and_publish_data(const std::string& data) {
        static std::string buffer;
        buffer += data;

        size_t pos;
        while ((pos = buffer.find('\n')) != std::string::npos) {
            std::string line = buffer.substr(0, pos);
            buffer.erase(0, pos + 1);

            if (line.find("Arduino ready for communication!") != std::string::npos ||
                line.find("Hello from Arduino!") != std::string::npos ||
                line.find("Arduino uptime:") != std::string::npos ||
                line.find("Blinking LED") != std::string::npos ||
                line.find("Blinking complete!") != std::string::npos ||
                line.find("Invalid choice") != std::string::npos) {
            
                auto message = std_msgs::msg::String();
                message.data = line;
                publisher_->publish(message);
                RCLCPP_INFO(this->get_logger(), "Published data: %s", line.c_str());
            }
        }
    }

    std::shared_ptr<IoContext> io_context_;
    std::unique_ptr<SerialDriver> serial_driver_;
    rclcpp::TimerBase::SharedPtr timer_;
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
};

int main(int argc, char *argv[]) {
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<ArduinoSerialNode>());
    rclcpp::shutdown();
    return 0;
}

3. 修改 CMakeLists.txt 文件，添加以下内容：

cmake_minimum_required(VERSION 3.5)
project(arduino_communication)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(serial_driver REQUIRED)

add_executable(arduino_serial_node src/arduino_serial_node.cpp)
ament_target_dependencies(arduino_serial_node rclcpp std_msgs serial_driver)

install(TARGETS
  arduino_serial_node
  DESTINATION lib/${PROJECT_NAME})

ament_package()

4. 修改 package.xml 文件，添加以下依赖项：

<package format="3">
  <name>arduino_communication</name>
  <version>0.0.0</version>
  <description>ROS 2 package for communicating with Arduino</description>
  <maintainer email="you@example.com">Your Name</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <build_depend>rclcpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>serial_driver</build_depend>

  <exec_depend>rclcpp</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>serial_driver</exec_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

5. 构建并安装包：

cd ~/文档/PlatformIO/Projects/arduino_ros2_communicate/ros2_ws
colcon build --symlink-install
source install/setup.bash

6. 运行节点：

在运行节点之前，需要 source ROS 2 和工作空间的环境设置：

source /opt/ros/humble/setup.bash
source ~/文档/PlatformIO/Projects/arduino_ros2_communicate/ros2_ws/install/setup.bash
ros2 run arduino_communication arduino_serial_node

7. 在另一个终端中，查看从 Arduino 发布的数据：

source /opt/ros/humble/setup.bash
source ~/文档/PlatformIO/Projects/arduino_ros2_communicate/ros2_ws/install/setup.bash
ros2 topic echo /arduino_data

运行成功的话，可以看到 Arduino 发送的数据。

故障排除

重新编译和运行

1. 导航到工作空间目录：

   cd ~/文档/PlatformIO/Projects/arduino_ros2_communicate/ros2_ws
   

2. 清理之前的构建并重新编译包：

   colcon build --symlink-install --cmake-clean-cache
   

3. 如果上述命令失败，尝试只构建 arduino_communication 包：

   colcon build --symlink-install --packages-select arduino_communication
   

4. 重新加载环境：

   source /opt/ros/humble/setup.bash
   source ~/文档/PlatformIO/Projects/arduino_ros2_communicate/ros2_ws/install/setup.bash
   

5. 运行节点：

   ros2 run arduino_communication arduino_serial_node
   

通过以上步骤，你应该能够成功实现 ROS 2 与 Arduino 的通信。如果仍然遇到问题，请检查代码中的错误并确保所有依赖都已正确安装。