10.ROS中对GPIO进行控制

首先，安装JetsonGPIO的C++库（如果超时，则去GitHub网站搜索JetsonGPIO）

git clone https://github.com/pjueon/JetsonGPIO

然后在JetsonGPIO中新建build文件夹，执行：

cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_EXAMPLES=ON

 # 参数选项说明
-DCMAKE_INSTALL_PREFIX=/usr # 选择基础安装目录
-DBUILD_EXAMPLES=ON # 选择创建samples

再执行安装语句安装库

sudo make install

要注意ROS会将find_package的PATH路径改为优先搜索ROS根目录下的ROS库，有时候会find不到GPIO库

这个地方我也不知道咋弄通的，反复改了几次莫名其妙又好了

GPIO表：

代码：

#include <iostream>
#include <ros/ros.h>
#include <chrono>
#include <thread>
#include <JetsonGPIO.h>
#include <unistd.h> 

using namespace std;
using namespace GPIO; // 可选

//GPIO::setmode(GPIO::BOARD);
// or

// or
//GPIO::setmode(GPIO::CVM);
// or
//GPIO::setmode(GPIO::TEGRA_SOC);

//GPIO::setwarnings(false);

int output_pin_R = 13; // BOARD pin 29, BCM pin 5 , Linux GPIO_149
int output_pin_G = 19; // BOARD pin 31, BCM pin 6 , Linux GPIO_200
int output_pin_B = 26; // BOARD pin 33, BCM pin 13, Linux GPIO_38


//GPIO::output(output_pin_R, HIGH);


//int value = GPIO::input(channel);

int main(int argc,  char** argv) {
   
    GPIO::setmode(GPIO::BCM);
    GPIO::setup(output_pin_R, GPIO::OUT, GPIO::LOW);
    GPIO::setup(output_pin_G, GPIO::OUT, GPIO::LOW);
    GPIO::setup(output_pin_B, GPIO::OUT, GPIO::LOW);

    ros::init(argc,argv,"mygpio_node");//初始化ROS节点
    ros::Time::init();

    
    ros::Rate loop_rate(1);

    while(ros::ok()){
        //loop_rate.sleep();
        GPIO::output(output_pin_R, HIGH);
        GPIO::output(output_pin_G, LOW);
        GPIO::output(output_pin_B, LOW);
        sleep(1);
        GPIO::output(output_pin_R, LOW);
        GPIO::output(output_pin_G, HIGH);
        GPIO::output(output_pin_B, LOW);
        sleep(1);
        GPIO::output(output_pin_R, LOW);
        GPIO::output(output_pin_G, LOW);
        GPIO::output(output_pin_B, HIGH);
        sleep(1);
    }
    GPIO::cleanup();
    return 0;
}

 cmakelist：

cmake_minimum_required(VERSION 3.0.2)
project(mygpio)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  JetsonGPIO
)

#set(JetsonGPIO_DIR "/usr/lib/aarch64-linux-gnu/cmake/JetsonGPIO")


## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES mygpio
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/mygpio.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/mygpio_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mygpio.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

add_executable(mygpio_node src/G.cpp)
 
target_link_libraries(mygpio_node
  ${catkin_LIBRARIES}
)
#target_link_libraries(mygpio_node JetsonGPIO::JetsonGPIO)