ROS 进阶学习笔记（12） - Communication with ROS through USART Serial Port

最新推荐文章于 2023-05-11 16:42:28 发布

Sonictl

最新推荐文章于 2023-05-11 16:42:28 发布

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分类专栏：机器人+ROS ROS进阶学习手记

本文链接：https://blog.csdn.net/sonictl/article/details/50623662

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本文介绍了如何使用ROS通过USART串口与传感器、触摸屏等设备进行通信。探讨了rosserial、serial、cereal_port和rosbridge等多个包的用途，并推荐了一种通过创建ROS节点转换串口消息为ROS std_msgs/String消息的方法。此外，提到了使用服务（Service）进行通信的可能性，以及在运行过程中可能遇到的资源消耗问题。

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Communication with ROS through USART Serial Port

We always need to communicate with ROS through serial port as we have many devices like sensors, touch-screen, actuators to be controlled through USART serial protocol.

After some investigation, I found several ways that can make ROS work with the serial-port-devices:

Use the package: rosserial. It seems like only the "connected rosserial-enabled device" can work upon that, including Aduino, Windows, XBee, etc.(ROS community said: rosserial is used with mcus that have rosserial code running on them.)
Use the driver package: serial. It seems like a serial port driver for ROS programming. This should be the most free way but I didn't find out how to use it.
Use the package: cereal_port, a serial port library for ROS, you can find it in theserial_communication stack, it's easy to use.
The package: rosbridgemay also suit your needs (full disclosure, author of rosbridge here). Check outthis video of using rosbridge with an Arduino (though the principles apply to any uController).
A simple approach is to write a ROS node that can read/write text messages exchanged with the microcontroller over a serial port and convert these serial messages to ROS style std_msgs/String messages.Here we are going to share this way first.
Kevin: a service given by Kevin. It seems to work pretty good. This works well cuz a lot of our serial stuff is sending a message and receiving a response back, instead of separate publish/subscribes.reference web

A simple approach is to write a ROS node that can read/write text messages exchanged with the microcontroller over a serial port and convert these serial messages to ROS style std_msgs/String messages. Here we are going to share this way first. ref:reference web

In that page, Bart says:
"A simple approach is to write a ROS node that can read/write text messages exchanged with the microcontroller over a serial port and convert these serial messages to ROS style std_msgs/String messages. A separate ROS node can then be written to convert the simple text messages to specific ROS message formats (cmd_vel, odom, etc) based on whatever message protocol was defined for the exchange with the microcontroll