ROS与STM32的串口通信篇 二

前言

ROS与STM32的串口通信
之前写过一篇用boost的串口通信, 本篇写下ros的serial的通信方式.

serial安装

sudo apt-get install ros-<distro>-serial, 由于是Ubuntu 18, 那么就是:

sudo apt install ros-melodic-serial

STM32工程

串口的使用参考 STM32CubeMX_UART_printf_接收中断_DMA空闲中断_LPUART 一文, 主要代码如下:

/* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		static uint8_t count = 0;
		++count;
		printf("Hello ROS |%3d\r\n", count);
		HAL_Delay(10);
  }
  /* USER CODE END 3 */

以100Hz的频率打印字符串, 波特率115200-8-N-1.

ROS程序

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_create_pkg serial_port roscpp std_msgs
cd serial_port/src	
touch serial_port.cpp
gedit serial_port.cpp

在打开的serial_port.cpp放入以下代码:

#include <ros/ros.h>
#include <serial/serial.h>
#include <std_msgs/String.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "serial_port");
    ros::NodeHandle n;

    serial::Serial sp("/dev/ttyACM0",115200,serial::Timeout::simpleTimeout(1000));

    if(sp.isOpen()) {
        ROS_INFO_STREAM("/dev/ttyACM0 is opened.");
    } else {
        return -1;
    }

    ros::Rate loop_rate(100);
    while (ros::ok())
    {
        if(sp.available()) {
            std_msgs::String result;
            result.data = sp.read(sp.available());
            ROS_INFO_STREAM(result.data);
        }

        ros::spinOnce();
        loop_rate.sleep();
    }

    sp.close();
    
    return 0;
}

打开~/catkin_make/src/serial_port/CMakeLists.txt, 填入:

add_executable(serial_port src/serial_port.cpp)
add_dependencies(serial_port ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(serial_port
  ${catkin_LIBRARIES}
)

编译运行:

roscore

cd ~/catkin_ws
catkin_make
source devel/setup.bash
sudo chmod 666 /dev/ttyACM0	#加权限才能正常打开
rosrun serial_port serial_port

可以看到打印, 前面是缓存的, 一直到126才算正常:

关于发送和读取, 详细可以参考这篇文章: https://blog.csdn.net/m0_37598942/article/details/80713512

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