ESP32使用ros2

使用arduino框架

在platformlo插件中新建项目，然后board选择 espressif esp32 dev module，framework选择 arduino就可以自动下载arduino环境了。

写一个程序测试一下，这段程序读取串口2的数据然后用串口0发送出去，这里串口2接的是一个gps模块

#include <Arduino.h>

String inputString = "";
bool stringComplete = false; 

void setup() {
  Serial.begin(9600);
  Serial2.begin(9600);
}

void loop() {
  if (stringComplete) {
    Serial.println(inputString);
    inputString = "";
    stringComplete = false ;
  }
}

void serialEvent2(){
  while (Serial2.available()) {
    char inChar = (char)Serial2.read();
    inputString += inChar;
    if(inChar == '\n') {
      stringComplete = true ;
    }
  }
}

成功读取了gps的数据

ros2发布主题

需要在电脑端安装ros2与MicroXRCEAgent，可以参考这一篇文章https://blog.csdn.net/m0_58944591/article/details/134244456

下载micro_ros_platformio库，在打开的项目中修改platformio.ini文件,添加micro_ros_platformio库的地址，保存会自动下载

board_microros_transport = wifi
lib_deps = 
	https://gitee.com/ohhuo/micro_ros_platformio.git

先测试一下功能，发布一个名为gps_publisher的主题，内容为"this is a gps data"
修改IPAddress agent_ip 为主机的ip地址，char ssid[]为要连接的wifi名，char psk[]为wifi密码

#include <Arduino.h>
#include <micro_ros_platformio.h>

#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <std_msgs/msg/string.h>


rcl_publisher_t publisher;
std_msgs__msg__String msg;

rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
rcl_timer_t timer;

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

String inputString = "";
bool stringComplete = false; 

// Error handle loop
void error_loop() {
  while(1) {
    delay(100);
  }
}

void timer_callback(rcl_timer_t * timer, int64_t last_call_time) {
  RCLC_UNUSED(last_call_time);
  if (timer != NULL) {
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data.data = "this is a gps data";
  }
}

void setup() {
  Serial.begin(9600);
  Serial2.begin(38400);
  IPAddress agent_ip(192, 168, 43, 101);
  size_t agent_port = 8888;

  char ssid[] = "MYHOST";
  char psk[]= "12345678";
  set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);
  delay(2000);

  allocator = rcl_get_default_allocator();

  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

  // // create node
  RCCHECK(rclc_node_init_default(&node, "gps_node", "", &support));

  // create publisher
  RCCHECK(rclc_publisher_init_default(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
    "gps_publisher"));

  // create timer,
  const unsigned int timer_timeout = 1000;
  RCCHECK(rclc_timer_init_default(
    &timer,
    &support,
    RCL_MS_TO_NS(timer_timeout),
    timer_callback));

  // create executor
  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
  RCCHECK(rclc_executor_add_timer(&executor, &timer));
}

void loop() {
  delay(100);
  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));

运行micro-ROS Agent

 MicroXRCEAgent udp4 --port 8888

显示下面的内容就成功了

使用ros2 打印刚才发布的主题

ros2 topic echo /gps_publisher

通过ros2发布gps数据

完成以上两部分后只需要稍微修改以下程序就可以实现功能了

#include <Arduino.h>
#include <micro_ros_platformio.h>

#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <std_msgs/msg/string.h>


rcl_publisher_t publisher;
std_msgs__msg__String msg;

rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
rcl_timer_t timer;

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

String inputString = "";
bool stringComplete = false; 

// Error handle loop
void error_loop() {
  while(1) {
    delay(100);
  }
}

void timer_callback(rcl_timer_t * timer, int64_t last_call_time) {
  RCLC_UNUSED(last_call_time);
  if (timer != NULL) {
    if (stringComplete) {
      RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
      Serial.println(inputString);
      msg.data.data =  (char *)inputString.c_str();
      stringComplete = false ;
    }
  }
}

void setup() {
  Serial.begin(9600);
  Serial2.begin(38400);
  IPAddress agent_ip(192, 168, 43, 101);
  size_t agent_port = 8888;

  char ssid[] = "MYHOST";
  char psk[]= "12345678";
  set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);
  delay(2000);

  allocator = rcl_get_default_allocator();

  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

  // // create node
  RCCHECK(rclc_node_init_default(&node, "gps_node", "", &support));

  // create publisher
  RCCHECK(rclc_publisher_init_default(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
    "gps_publisher"));

  // create timer,
  const unsigned int timer_timeout = 500;
  RCCHECK(rclc_timer_init_default(
    &timer,
    &support,
    RCL_MS_TO_NS(timer_timeout),
    timer_callback));

  // create executor
  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
  RCCHECK(rclc_executor_add_timer(&executor, &timer));
}

void loop() {
  delay(100);
  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
}
void serialEvent2(){
    String str;
    while (Serial2.available()) {
      char inChar = (char)Serial2.read();
      str += inChar;
      if(inChar == '\n') {
        stringComplete = true ;
        inputString = str;
      }
    }
}

使用ros2 打印刚才发布gps数据主题

ros2 topic echo /gps_publisher