这篇教程是https://editor.csdn.net/md/?articleId=141759670的进一步拓展
本文档描述了如何扩展现有的 ROS 2 与 Arduino 通信系统,以实现通过 ROS 2 控制连接到 Arduino 的舵机。
功能概述
- 通过 ROS 2 话题发送舵机角度命令
- Arduino 接收命令并控制连接到 9 号引脚的舵机
- ROS 2 节点接收并发布 Arduino 的反馈信息
Arduino 代码更新
- 添加 Servo 库支持并初始化舵机:
#include <Arduino.h>
#include <Servo.h>
Servo myservo;
void printMenu() {
// ... (保持原有的菜单选项)
Serial.println("4. Set Servo Angle");
Serial.println("Enter your choice:");
}
void setup() {
// ... (保持原有的设置)
myservo.attach(9); // 将舵机连接到9号引脚
printMenu();
}
void loop() {
if (Serial.available() > 0) {
char choice = Serial.read();
// Clear the serial buffer
while (Serial.available() > 0) {
Serial.read();
}
switch (choice) {
// ... (保持原有的case语句)
case '4':
Serial.println("Enter servo angle (0-180):");
while (!Serial.available()) {} // 等待输入
int angle = Serial.parseInt();
if (angle >= 0 && angle <= 180) {
myservo.write(angle);
Serial.print("Servo angle set to: ");
Serial.println(angle);
} else {
Serial.println("Invalid angle. Please enter a value between 0 and 180.");
}
break;
// ... (保持原有的default语句)
}
printMenu();
}
}
ROS 2 节点更新
- 在 ROS 2 节点中添加一个新的订阅者,用于接收舵机角度命令:
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/int32.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);
// 创建舵机角度订阅者
subscription_ = this->create_subscription<std_msgs::msg::Int32>(
"servo_angle", 10, std::bind(&ArduinoSerialNode::servo_callback, this, std::placeholders::_1)
);
}
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 ||
line.find("Servo angle set to:") != 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());
}
}
}
void servo_callback(const std_msgs::msg::Int32::SharedPtr msg) {
int angle = msg->data;
if (angle >= 0 && angle <= 180) {
std::string command = "4\n" + std::to_string(angle) + "\n";
try {
serial_driver_->port()->send(std::vector<uint8_t>(command.begin(), command.end()));
RCLCPP_INFO(this->get_logger(), "Sent servo command: %d", angle);
} catch (const std::exception &ex) {
RCLCPP_ERROR(this->get_logger(), "Error sending servo command: %s", ex.what());
}
} else {
RCLCPP_WARN(this->get_logger(), "Invalid servo angle: %d. Must be between 0 and 180.", angle);
}
}
std::shared_ptr<IoContext> io_context_;
std::unique_ptr<SerialDriver> serial_driver_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_;
};
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<ArduinoSerialNode>());
rclcpp::shutdown();
return 0;
}
项目配置更新
-
在
platformio.ini
文件中添加 Servo 库的依赖:[env:uno] platform = atmelavr board = uno framework = arduino test_framework = unity monitor_speed = 9600 lib_deps = arduino-libraries/Servo@^1.1.8
-
更新
CMakeLists.txt
文件:find_package(std_msgs REQUIRED) # ... (其他内容保持不变) ament_target_dependencies(arduino_serial_node rclcpp std_msgs serial_driver )
-
更新
package.xml
文件:<depend>std_msgs</depend>
使用方法
-
将舵机连接到 Arduino 的 9 号引脚。
-
上传更新后的 Arduino 代码。
-
编译并运行更新后的 ROS 2 节点。
-
使用以下命令发送舵机角度命令:
ros2 topic pub /servo_angle std_msgs/msg/Int32 "data: 90"
将 90 替换为 0 到 180 之间的任何角度值。
-
观察 Arduino 的串口输出或 ROS 2 的话题输出,以确认舵机角度设置是否成功。
通过这些更新,我们实现了一个更加灵活的 ROS 2 与 Arduino 通信系统,不仅可以读取 Arduino 的数据,还可以通过 ROS 2 控制 Arduino 上的舵机。这为进一步的机器人开发和控制提供了基础。