解决该问题主要有两种方法:
1. 中断法
在ARM中有IDLE中断这个概念,当串口发完消息,可以向主控芯片发送中断信号,进而进入中断处理程序,这样自然而然也就不会有丢帧问题发生。基于该思路,自然可以直接使用LINUX系统的接口来写程序,但我还是觉得能用库就用库吧。这里选择的是boost::asio::serial这个库,主要代码如下:
#include "ros/ros.h"
#include "sensor_msgs/Imu.h"
#include "imu.hpp"
#include <Eigen/Geometry>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
using namespace std;
using namespace boost::asio;
IMU imuraw;
sensor_msgs::Imu imuros;
uint8_t buf[32];
void printall(std::vector<uint8_t> buffer);
int main(int argc, char **argv)
{
ros::init(argc, argv, "CartIMU");
ros::NodeHandle nh;
ros::Publisher imu_pub = nh.advertise<sensor_msgs::Imu>("CartImu", 1000);
io_service iosev;
serial_port sp(iosev);
try
{
sp.open("/dev/ttyUSB0");
}
catch (const std::exception &e)
{
ROS_ERROR_STREAM(e.what() << ". please plugin in the USB of IMU.");
}
sp.set_option(serial_port::baud_rate(115200));
sp.set_option(serial_port::flow_control(serial_port::flow_control::none)); //无流控制
sp.set_option(serial_port::parity(serial_port::parity::none)); //无校验
sp.set_option(serial_port::stop_bits(serial_port::stop_bits::one)); //1位停止位
sp.set_option(serial_port::character_size(8));
ros::Rate loop_rate(100);
Eigen::Matrix3f rotation;
Eigen::Quaternionf q;
//不变的消息内容事先设置,降低运算量
imuros.header.frame_id = "cart_imu";
imuros.angular_velocity_covariance[0] = 0.013;
imuros.angular_velocity_covariance[1] = 0;
imuros.angular_velocity_covariance[2] = 0;
imuros.angular_velocity_covariance[3] = 0;
imuros.angular_velocity_covariance[4] = 0.013;
imuros.angular_velocity_covariance[5] = 0;
imuros.angular_velocity_covariance[6] = 0;
imuros.angular_velocity_covariance[7] = 0;
imuros.angular_velocity_covariance[8] = 0.013;