配置树莓派4B的自带的串口引脚实现串口通信和小车的远程键盘控制
1：如果您的树莓派上没有安装Ubuntu和ROS Melodic，请按照前面两篇博客进行安装
2：此实验将会使用树莓派的串口引脚、分别为TXD(8)、RXD(10)、3.3V(1)、GND(39)（括号内为其物理引脚），树莓派的串口默认为串口终端调试使用，如要正常使用串口传输数据则需要修改树莓派设置。（关闭串口终端调试功能后则不能再通过串口登陆访问树莓派，需从新开启后才能通过串口控制树莓派）
操作教程：
2.1：释放串口：在终端输入
sudo raspi-config
选择 Interfacing Options ->Serial ->Select->no -> Yes -> ok -> Finish->Yes重启，此时便关闭了串口调试功能,打开了串口。
2.2：打开/boot/config.txt文件sudo gedit /boot/config, 找到这条语句
"enable_uart=1"
如果没有可添加在文件最后面
2.3：安装Ubuntu下的串口助手sudp apt-get install minicom（此步骤可以不做）
2.4：打开串口调试助手：minicom -D /dev/ttyAMA0，（注：如果是树莓派3B或4B，板载的串口ttyAMA0作为蓝牙使用，用户串口端口改为ttyS0，即输入minicom -D /dev/ttyS0；默认波特率为115200，如需设置波特率为9600加参数 -b 9600，-D代表端口），通过windows的串口调试工具，并且使用USB转TTL模块，便可以和树莓派的串口通信（此步骤可以不做）
3：利用ROS和串口实现键盘控制
打开终端输入
cd ~/catkin_ws/src
创建功能包：
catkin_creat_pkg telepcontrol std_msgs rospy roscpp
cd telepcontrol
添加scripts文件夹:
mkdir scripts
cd scripts
sudo gedit UartCommunicate.py
添加以下串口通信内容
#!/usr/bin/env python
###########use serial library
##添加与串口通信相关的库文件
import serial
import struct
import rospy
from geometry_msgs.msg import Twist
class ArtOmnibotDriver():
def __init__(self):
##ROS节点
rospy.init_node('art_rosMove')
##订阅键盘控制有关的话题teleop_keyboard/cmd_vel，可以根据自己的键盘控制代码修改
rospy.Subscriber('teleop_keyboard/cmd_vel', Twist, self.cmd_cb)
##配置串口，通过上面的设置/dev/ttyS0已经设置为树莓派的串口引脚
port = rospy.get_param('~port', '/dev/ttyS0')
baud = rospy.get_param('~baud', 115200)
self.ser = serial.Serial(port, baud, timeout=0.05)
self.cmd = (0.0, 0.0, 0.0)
self.cmd_time = rospy.Time.now()
while not rospy.is_shutdown():
self.set_vel()
self.ser.close()
def set_vel(self):
if (rospy.Time.now() - self.cmd_time).to_sec() > 0.2:
self.cmd = (0.0, 0.0, 0.0)
print 'vx=', self.cmd[0],' vy=', self.cmd[1],' w=',self.cmd[2]
cmd = [0, 0, 0, 0, 0, 0]
##将得到的速度值转化为高8位和低8位的字符形式，
for i in range(len(self.cmd)):
cmd[2*i] = chr((int(self.cmd[i])&0xffff)>>8)
cmd[2*i+1] = chr(int(self.cmd[i])&0xff)
##可以根据自己设置的通信协议更改这部分代码，串口发送
self.ser.write('\xFF\xFF\x00\x01'+cmd[0]+cmd[1]+cmd[2]+cmd[3]+cmd[4]+cmd[5]+'\xFE')
def cmd_cb(self, msg):
self.cmd = (msg.linear.x, msg.linear.y, msg.angular.z)
self.cmd_time = rospy.Time.now()
if __name__ == '__main__':
ArtOmnibotDriver()
rospy.spin()
保存后继续添加以下键盘控制代码
sudo gedit teleop_key.py
添加以下代码，此代码已经修改为全向移动小车的键盘控制代码
#!/usr/bin/env python
# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty
msg = """
Control Your Turtlebot!
---------------------------
Moving around:
u i o
h j k l ;
m , .
q/w : increase/decrease only linear speeds 10
z/x : increase/decrease only angular speed 2
space key, k : force stop
anything else : stop smoothly
CTRL-C to quit
"""
moveBindings = {
'i':(0,1,0),
',':(0,-1,0),
'j':(1,0,0),
'l':(-1,0,0),
'o':(-1,1,0),
'u':(1,1,0),
'.':(-1,-1,0),
'm':(1,-1,0),
'h':(0,0,1),
';':(0,0,-1),
}
speedBindings={
'q':(10,10,0),
'w':(-10,-10,0),
'z':(0,0,2),
'x':(0,0,-2),
}
def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
speedx = 100
speedy = 100
turn = 10
def vels(speedx,speedy,turn):
return "currently:\tspeedx %s\tspeedy %s\tturn %s " % (speedx,speedy,turn)
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin)
rospy.init_node('turtlebot_teleop')
pub = rospy.Publisher('~cmd_vel', Twist, queue_size=5)
# rate =rospy.Rate(100)
x = 0
y = 0
th = 0
status = 0
count = 0
acc = 0.1
target_speedx = 0
target_speedy = 0
target_turn = 0
control_speedx = 0
control_speedy = 0
control_turn = 0
try:
print(msg)
print(vels(speedx,speedy,turn))
while(1):
key = getKey()
if key in moveBindings.keys():
x = moveBindings[key][0]
y = moveBindings[key][1]
th = moveBindings[key][2]
count = 0
elif key in speedBindings.keys():
speedx = speedx + speedBindings[key][0]
speedy = speedy + speedBindings[key][1]
turn = turn + speedBindings[key][2]
count = 0
print(vels(speedx,speedy,turn))
if (status == 14):
print(msg)
status = (status + 1) % 15
elif key == ' ' or key == 'k' :
x = 0
y=0
th = 0
control_speedx = 0
control_speedy = 0
control_turn = 0
else:
count = count + 1
if count > 4:
x = 0
y = 0
th = 0
if (key == '\x03'):
break
target_speedx = speedx * x
target_speedy = speedy * y
target_turn = turn * th
if target_speedx > control_speedx:
control_speedx = min( target_speedx, control_speedx + 10 )
elif target_speedx < control_speedx:
control_speedx = max( target_speedx, control_speedx - 10 )
else:
control_speedx = target_speedx
if target_speedy > control_speedy:
control_speedy = min( target_speedy, control_speedy + 10 )
elif target_speedy < control_speedy:
control_speedy = max( target_speedy, control_speedy - 10 )
else:
control_speedy = target_speedy
if target_turn > control_turn:
control_turn = min( target_turn, control_turn + 2 )
elif target_turn < control_turn:
control_turn = max( target_turn, control_turn - 2 )
else:
control_turn = target_turn
twist = Twist()
twist.linear.x = control_speedx;
twist.linear.y = control_speedy;
twist.linear.z = 0
twist.angular.x = 0;
twist.angular.y = 0;
twist.angular.z = control_turn
pub.publish(twist)
# rate.sleep()
except Exception as e:
print(e)
finally:
twist = Twist()
twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
pub.publish(twist)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
保存后
添加launch文件夹:
cd ..
mkdir launch
cd launch
sudo gedit keyboard_teleop.launch
添加以下内容
<launch>
<!-- turtlebot_teleop_key already has its own built in velocity smoother -->
<node pkg="telepcontrol" type="teleop_key" name="teleop_keyboard" output="screen">
<param name="scale_linear" value="100" type="double"/>
<param name="scale_angular" value="10" type="double"/>
<remap from="turtlebot_teleop/cmd_vel" to="/cmd_vel"/>
</node>
</launch>
保存后编译
cd ~/catkin_ws
catkin_make，
运行
roslaunch telepcontrol keyboard_teleop.launch
新建另一个终端可使用快捷键ctrl+alt+T,输入
rosrun telepcontrol art_communicate.py
在键盘控制终端内按照提示（UIOHJKL;M,.）按键即可控制发布的速度指令。
ssh 用户名@ip地址，输入密码，远程登陆，（注意若显示 WARNING:REMOTE HOST IDENTIFICATION HAS CHANGED，可使用ssh –keygen –R ip地址 命令删除以前的known_hosts）
打开键盘控制节点和串口通信节点，即可实现远程键盘控制
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