arduino python控件_ros_arduino_python

Only released in EOL distros:electric

fuerte

groovy

hydro

indigo

electric: Documentation generated on March 02, 2013 at 01:19 PM

fuerte: Documentation generated on November 21, 2013 at 12:10 PM

groovy: Documentation generated on October 06, 2014 at 06:51 AM

hydro: Documentation generated on August 26, 2015 at 03:57 PM

indigo: Documentation generated on June 07, 2019 at 05:37 AM

Overview

This package consists of a Python driver and ROS node for Arduino-compatible controllers. The Arduino must be connected to a PC or SBC using either a USB port or an RF serial link (e.g. XBee).

FeaturesDirect support for the following sensors: Ping sonar

Sharp infrared (GP2D12)

Onboard Pololu motor controller current

Phidgets Voltage sensor

Phidgets Current sensor (DC, 20A)

Can also read data from generic analog and digital sensors

Can control digital outputs (e.g. turn a switch or LED on and off)

Support for PWM servos

Configurable base controller if using the required hardware.

Arduino Node

arduino-node.py

A ROS node for Arduino-compatible microcontrollers. Sensors can be polled at independent rates (see sample config file at the end of this page.) For example, main voltage could be polled at 1 Hz while a sonar sensor could be polled at 20 Hz.

Subscribed Topics

/cmd_vel (geometry_msgs/Twist) Movement commands for the base controller.

Published Topics

/odom (nav_msgs/Odometry) Odometry messages from the base controller.~sensor_state (ros_arduino_msgs/SensorState) An array of sensor names and values.~sensor/name (sensor_msgs/Range,) Each sensor value is published on its own topic under the "sensor" namespace with the appropriate type. See sample config file below for examples.

Services

~servo_write (ros_arduino_msgs/ServoWrite) Set the target position of a servo with index 'id' to 'value' (in radians). The 'id' to pin mapping is made in the Arduino firmware.~servo_read (ros_arduino_msgs/ServoRead) Get the last set position (in radians) from the servo with index 'id'.~digital_set_direction (ros_arduino_msgs/DigitalSetDirection) Sets a digital pin to INPUT (0) or OUTPUT (1)~digital_write (ros_arduino_msgs/DigitalWrite) Sets a digital pin either LOW (0) or HIGH (1)

Parameters

~port (str, default: /dev/ttyUSB0 -- some controllers use /dev/ttyACM0) Serial port.~baud (int, default: 57600) Baud rate for the serial connection.~timeout (float, default: 0.1) Timeout for serial port in seconds.~rate (int, default: 50) Rate to run the main control loop. Should be at least as fast as the faster sensor rate.~sensorstate_rate (int, default: 10) Rate to publish the overall sensor array. Note that individual sensors are published on their own topics and at their own rate.~use_base_controller (bool, default: False) Whether or not to use the base controller.~base_controller_rate (int, default: 10) Rate to publish odometry data.~base_frame (New in Hydro) (string, default: base_link) Link to use as the base link when publishing odometry~wheel_diameter (float, default: none) Wheel diameter in meters.~wheel_track (float, default: none) Wheel track in meters. (Distance between centers of drive wheels.)~encoder_resolution (int, default: none) Encoder ticks per wheel revolution.~gear_reduction (float, default: 1.0) External gear reduction.~motors_reversed (bool, default: False) Reverse the sense of wheel rotation.~Kp (int, default: 20) Proportial PID parameter.~Kd (int, default: 12) Derivative PID parameter.~Ki (int, default: 0) Integral PID parameter.~Ko (int, default: 50) Output PID parameter.~accel_limit (float, default: 0.1) Max acceleration when changing wheel speeds~sensors (dict, default: None) Dictionary of sensors attached to the Arduino. (See the sample YAML config file below.)

Provided tf Transforms

odom → base_link Transform needed for navigation.

Configuration

The Arduino node is configured using a YAML file specifying the required parameters. A sample parameter file called arduino_params.yaml is included in the config directory and is shown below. Make a copy of this file(e.g. my_arduino_params.yaml) before editing. Note that many of the parameters are commented out and must be set and un-commented before you can use the node with your Arduino.

Current valid sensor types names (case-sensitive):Ping

GP2D12

Analog (generic)

Digital (generic)

port: /dev/ttyUSB0

baud: 57600

timeout: 0.1

rate: 50

sensorstate_rate: 10

use_base_controller: False

base_controller_rate: 10

# === Robot drivetrain parameters

#wheel_diameter: 0.146

#wheel_track: 0.2969

#encoder_resolution: 8384 # from Pololu for 131:1 motors

#gear_reduction: 1.0

#motors_reversed: True

# === PID parameters

#Kp: 20

#Kd: 12

#Ki: 0

#Ko: 50

#accel_limit: 1.0

# === Sensor definitions. Examples only - edit for your robot.

# Sensor type can be one of the follow (case sensitive!):

# * Ping

# * GP2D12

# * Analog

# * Digital

# * PololuMotorCurrent

# * PhidgetsVoltage

# * PhidgetsCurrent (20 Amp, DC)

sensors: {

#motor_current_left: {pin: 0, type: PololuMotorCurrent, rate: 5},

#motor_current_right: {pin: 1, type: PololuMotorCurrent, rate: 5},

#ir_front_center: {pin: 2, type: GP2D12, rate: 10},

#sonar_front_center: {pin: 5, type: Ping, rate: 10},

arduino_led: {pin: 13, type: Digital, rate: 5, direction: output}

}

Example Launch File

Usage Notes

Be sure to put your robot on blocks before first trying the base controller

If you mess up your parameters in a given session, just do a:rosparam delete /arduino

The driver requires Python 2.6.5 or higher and PySerial 2.3 or higher. It has been tested on Ubuntu Linux 10.04 (Maveric) and 11.10 (Oneric).

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