测试环境:
- M5 Atom Lite (esp32-pico-d4 core)
- 旭日x3派(2G)+ros2 foxy
0. 写在前面
- 在micro_ros与上位机连接时,前文大部分情况下需要手动复位下位机
- 实际使用中,我们希望上电自动连接
- 尽管可以用软件控制复位,但仍较为麻烦
- 所以,我们希望能够有一种机制帮助我们实现自动连接micro_ros_agent
1. micro_ros_reconnection
1.1 官方示例
1.2 完整代码
#include <micro_ros_arduino.h>
#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <rmw_microros/rmw_microros.h>
#include "M5Atom.h"
#include <geometry_msgs/msg/twist.h>
#define RCCHECK(fn) {
rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){
return false;}}
#define EXECUTE_EVERY_N_MS(MS, X) do {
\
static volatile int64_t init = -1; \
if (init == -1) {
init = uxr_millis();} \
if (uxr_millis() - init > MS) {
X; init = uxr_millis();} \
} while (0)\
rclc_support_t support;
rcl_node_t node;
rcl_timer_t timer;
rclc_executor_t executor;
rcl_allocator_t allocator;
rcl_publisher_t publisher;
geometry_msgs__msg__Twist msg;
bool micro_ros_init_successful;
enum states {
WAITING_AGENT,
AGENT_AVAILABLE,
AGENT_CONNECTED,
AGENT_DISCONNECTED
} state;
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
(