python esp8266 控制led_ESP8266和ROS收发消息读取模拟量控制LED亮度

如果需要ESP8266和ROS通信先阅读如下博客：

这里测试环境melodic和noetic都可行。

源代码如下：

#if (ARDUINO >= 100)

#include

#else

#include

#endif

#include

#include

#include

#include

#include

#include

#include

//

// WiFi Definitions //

//

const char* ssid = "HUAWEI_WiFi";

const char* password = "cslgcslg";

IPAddress server(192, 168, 3, 153); // ip of your ROS server

IPAddress ip_address;

int status = WL_IDLE_STATUS;

WiFiClient client;

class WiFiHardware {

public:

WiFiHardware() {};

void init() {

// do your initialization here. this probably includes TCP server/client setup

client.connect(server, 11411);

}

// read a byte from the serial port. -1 = failure

int read() {

// implement this method so that it reads a byte from the TCP connection and returns it

// you may return -1 is there is an error; for example if the TCP connection is not open

return client.read(); //will return -1 when it will works

}

// write data to the connection to ROS

void write(uint8_t* data, int length) {

// implement this so that it takes the arguments and writes or prints them to the TCP connection

for(int i=0; i

client.write(data[i]);

}

// returns milliseconds since start of program

unsigned long time() {

return millis(); // easy; did this one for you

}

};

Servo s;

int i;

void chatterCallback(const std_msgs::String& msg) {

i = atoi(msg.data);

s.write(i);

}

std_msgs::String str_msg;

rosserial_arduino::Adc adc_msg;

ros::Publisher chatter("chatter", &str_msg);

ros::Publisher p("adc", &adc_msg);

ros::Subscriber<:string> sub("message", &chatterCallback);

ros::NodeHandle_ nh;

char hello[20] = "ESP8266 wifi alive!";

void setupWiFi()

{

WiFi.begin(ssid, password);

Serial.print("\nConnecting to "); Serial.println(ssid);

uint8_t i = 0;

while (WiFi.status() != WL_CONNECTED && i++ < 20) delay(500);

if(i == 21){

Serial.print("Could not connect to"); Serial.println(ssid);

while(1) delay(500);

}

Serial.print("Ready! Use ");

Serial.print(WiFi.localIP());

Serial.println(" to access client");

}

int averageAnalog(int pin){

int v=0;

for(int i=0; i<2; i++) v+= analogRead(pin);

return v/2;

}

void setup() {

Serial.begin(115200);

setupWiFi();

delay(2000);

s.attach(13); // PWM pin

nh.initNode();

nh.advertise(chatter);

nh.subscribe(sub);

nh.advertise(p);

}

void loop() {

str_msg.data = hello;

chatter.publish( &str_msg );

adc_msg.adc0 = averageAnalog( 0 );

p.publish( &adc_msg );

nh.spinOnce();

delay( 10 );

}

简单解释一下，发布节点chatter，adc，订阅节点message。

message提取数值作为PWM波送到13脚控制LED亮度(占空比)；

adc采集模拟量绘制曲线；

chatter只用作发布消息，告知主机连接成功。

使用如下命令启动wemos D1和ROS：

roscore

rosrun rosserial_python serial_node.py tcp

rostopic pub /message std_msgs/String "data: '10'"

rostopic echo /adc

rostopic echo /chatter

过程如下：

roscore

rosrun rosserial_python serial_node.py tcp

主题列表：

rostopic pub /message std_msgs/String "data: '10'"

使用rqt_graph查看所有节点状态：

使用rosbag记录ADC数据并使用plot查看曲线：

关闭所有节点，只留下roscore，使用rosbag play查看记录数据：

所有Arduino，stm32等单片机都可以借助ROS实现物联网硬件功能。

-Fin-