ROS melodic 串口通信 并将消息发布
Ros与STM32是用串口进行通信的,本项目制作一个上位机节点,负责与STM32进行串口通信。本项目采用虚拟机VMware workstation 16 pro 运行Ubuntu 20.04.5 LTS,单片机选用正点原子STM32F1战舰版。
一、STM32
找了一个串口通信实验的例程。改了改,学过单片机串口通信的这部分都会吧。
下面展示一些 内联代码片
。
#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "key.h"
int main(void)
{
//创建串口发送寄存器,未来可以根据你的需要修改,如按照一定通讯协议发送
u8 USART_TX_BUF[3];
USART_TX_BUF[0] = 0x01;
USART_TX_BUF[1] = 0x02;
USART_TX_BUF[2] = 0x03;
HAL_Init(); //初始化HAL库
Stm32_Clock_Init(RCC_PLL_MUL9); //设置时钟,72M
delay_init(72); //初始化延时函数
uart_init(115200); //初始化串口
LED_Init(); //初始化LED
KEY_Init(); //初始化按键
while(1)
{
HAL_UART_Transmit(&UART1_Handler,(uint8_t*)USART_TX_BUF,3,100);
HAL_Delay(300);
}
}
//修改自正点原子代码历程
二、上位机ROS部分
ros里面有相应的串口包给我们用。我们调用串口包编程会非常方便。下载串口库:
sudo apt-get install ros-melodic-serial
vscode配置部分请参照赵虚拟作老师的教程
2.1 创建工作空间并初始化
mkdir -p serial_node/src
cd serial_node
catkin_make
2.2 进入src创建ros包并添加依赖
cd src
catkin_create_pkg demo01_serial roscpp rospy std_msgs serial
创建ros包时需要加入serial包 否则编译查询不到。
2.3 ros串口接受程序
/*
接受来自单片机的纬度、经度、速度消息
*/
#include <iostream>
#include <string>
#include <sstream>
using namespace std;
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "serial/serial.h"
#include "demo01_serial/serial_demo01.h"
#define sBUFFER_SIZE 1024
#define rBUFFER_SIZE 1024
unsigned char s_buffer[sBUFFER_SIZE];
unsigned char r_buffer[rBUFFER_SIZE];
int main(int argc, char *argv[])
{
//解决乱码问题
setlocale(LC_ALL, "");
//2.ros初始化Ros节点 第三个参数为节点名称
ros::init(argc, argv, "serial_node");
//3.创建节点句柄
ros::NodeHandle nh;
//打开串口
serial::Serial ser;
try
{
ser.setPort("/dev/ttyUSB0");
ser.setBaudrate(115200);
serial::Timeout to = serial::Timeout::simpleTimeout(1000);
ser.setTimeout(to);
ser.open();
}
catch(serial::IOException& e)
{
ROS_ERROR_STREAM("Unable to open serial");
return -1;
}
if(ser.isOpen())
{
ROS_INFO_STREAM("Succeed to open port");
}
//4.创建发布者对象 调用advertise函数,srd_msgs为范型 话题 队列长度
ros::Publisher pub = nh.advertise<demo01_serial::serial_demo01>("gps_vel",10);
//5.编写发布逻辑并发布数据
//要求以 10HZ 频率发布不数据并且文本后添加编号
//先创建被发布的消息
demo01_serial::serial_demo01 msg;
//发布频率
ros::Rate rate(1);
ros::Duration(3).sleep();
//编写循环,循环中发布消息
while(ros::ok())
{
//读取串口数据
ser.read(r_buffer, ser.available());
msg.lat = r_buffer[0];
msg.lon = r_buffer[1];
msg.val = r_buffer[2];
ROS_INFO("串口接受到的数据为:%.2f",msg.lat);
rate.sleep();
ros::spinOnce();//官方建议,处理回调函数
}
ser.close();
return 0;
}
2.4 话题通信自定义msg
2.5 编辑配置文件
package.xml中添加编译依赖与执行依赖
<?xml version="1.0"?>
<package format="2">
<name>demo01_serial</name>
<version>0.0.0</version>
<description>The demo01_serial package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="ros20@todo.todo">ros20</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/demo01_serial</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
CMakeLists.txt编辑 msg 相关配置
cmake_minimum_required(VERSION 3.0.2)
project(demo01_serial)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
serial
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
serial_demo01.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES demo01_serial
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/demo01_serial.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/demo01_serial_node.cpp)
add_executable(serial_demo01 src/serial_demo01.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(serial_demo01 ${PROJECT_NAME}_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(serial_demo01
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_demo01_serial.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
3 执行
source ./devel/setup.bash
roscore
rosrun serial_node serial_node
串口权限
运行时如果提示串口打开失败,有两种原因,一是串口号不对,使用dmesg | grep ttyS*列出检测到的串口号,逐个测试;二是没有操作权限,使用sudo chmod 666 /dev/ttyACM0即可解决,也可以使用sudo usermod -aG dialout 用户名来获得永久权限,用户名可使用whoami查看