ros2中晃动imu，但是我的机器人模型不跟着晃动，而且里程计一开，里程计跑走，但是imu和机器人模型还在原地，以下是我的各个文件代码，情分析一下为什么：wheeltec_robot.cpp文件代码为：
#include "turn_on_wheeltec_robot/wheeltec_robot.h"
#include "turn_on_wheeltec_robot/Quaternion_Solution.h"
#include "wheeltec_robot_msg/msg/data.hpp"
sensor_msgs::msg::Imu Mpu6050;//Instantiate an IMU object //实例化IMU对象
using std::placeholders::_1;
using namespace std;
rclcpp::Node::SharedPtr node_handle = nullptr;
//自动回充使用相关变量
bool check_AutoCharge_data = false;
bool charge_set_state = false;
/**************************************
Date: January 28, 2021
Function: The main function, ROS initialization, creates the Robot_control object through the Turn_on_robot class and automatically calls the constructor initialization
功能: 主函数，ROS初始化，通过turn_on_robot类创建Robot_control对象并自动调用构造函数初始化
***************************************/
int main(int argc, char** argv)
{
rclcpp::init(argc, argv); //ROS initializes and sets the node name //ROS初始化 并设置节点名称
turn_on_robot Robot_Control;//Instantiate an object //实例化一个对象
Robot_Control.Control();//Loop through data collection and publish the topic //循环执行数据采集和发布话题等操作
return 0;
}
/**************************************
Date: January 28, 2021
Function: Data conversion function
功能: 数据转换函数
***************************************/
short turn_on_robot::IMU_Trans(uint8_t Data_High,uint8_t Data_Low)
{
short transition_16;
transition_16 = 0;
transition_16 |= Data_High<<8;
transition_16 |= Data_Low;
return transition_16;
}
float turn_on_robot::Odom_Trans(uint8_t Data_High,uint8_t Data_Low)
{
float data_return;
short transition_16;
transition_16 = 0;
transition_16 |= Data_High<<8; //Get the high 8 bits of data //获取数据的高8位
transition_16 |= Data_Low; //Get the lowest 8 bits of data //获取数据的低8位
data_return = (transition_16 / 1000)+(transition_16 % 1000)*0.001; // The speed unit is changed from mm/s to m/s //速度单位从mm/s转换为m/s
return data_return;
}
/**************************************
Date: January 28, 2021
Function: The speed topic subscription Callback function, according to the subscribed instructions through the serial port command control of the lower computer
功能: 速度话题订阅回调函数Callback，根据订阅的指令通过串口发指令控制下位机
***************************************/
void turn_on_robot::Cmd_Vel_Callback(const geometry_msgs::msg::Twist::SharedPtr twist_aux)
{
short transition; //intermediate variable //中间变量
Send_Data.tx[0]= 0x06; //frame head 0x7B //帧头0X7B
//Send_Data.tx[1] = AutoRecharge; //set aside //预留位
Send_Data.tx[1] = FRAME_HEADER;
Send_Data.tx[2] = 0; //set aside //预留位
//The target velocity of the X-axis of the robot
//机器人x轴的目标线速度
transition=0;
transition = twist_aux->linear.x*1000; //将浮点数放大一千倍，简化传输 (mm/s)
Send_Data.tx[4] = transition; //取数据的低8位
Send_Data.tx[3] = transition>>8; //取数据的高8位
//The target velocity of the Y-axis of the robot
//机器人y轴的目标线速度
transition=0;
transition = twist_aux->linear.y*1000;
Send_Data.tx[6] = transition;
Send_Data.tx[5] = transition>>8;
//The target angular velocity of the robot's Z axis
//机器人z轴的目标角速度
transition=0;
transition = twist_aux->angular.z*1000; //(1000*rad/s)
Send_Data.tx[8] = transition;
Send_Data.tx[7] = transition>>8;
Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //For the BCC check bits, see the Check_Sum function //BCC校验位，规则参见Check_Sum函数
Send_Data.tx[10]=0x0d; //frame tail 0x7D //帧尾0X7D
Send_Data.tx[11]=0x0a;
try
{
Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //通过串口向下位机发送数据
}
catch (serial::IOException& e)
{
RCLCPP_ERROR(this->get_logger(),("Unable to send data through serial port")); //If sending data fails, an error message is printed //如果发送数据失败，打印错误信息
}
}
/**************************************
Date: January 28, 2021
Function: Publish the IMU data topic
功能: 发布IMU数据话题
***************************************/
void turn_on_robot::Publish_ImuSensor()
{
sensor_msgs::msg::Imu Imu_Data_Pub; //Instantiate IMU topic data //实例化IMU话题数据
Imu_Data_Pub.header.stamp = rclcpp::Node::now();
Imu_Data_Pub.header.frame_id = gyro_frame_id; //IMU corresponds to TF coordinates, which is required to use the robot_pose_ekf feature pack
//IMU对应TF坐标，使用robot_pose_ekf功能包需要设置此项
Imu_Data_Pub.orientation.x = Mpu6050.orientation.x; //A quaternion represents a three-axis attitude //四元数表达三轴姿态
Imu_Data_Pub.orientation.y = Mpu6050.orientation.y;
Imu_Data_Pub.orientation.z = Mpu6050.orientation.z;
Imu_Data_Pub.orientation.w = Mpu6050.orientation.w;
Imu_Data_Pub.orientation_covariance[0] = 1e6; //Three-axis attitude covariance matrix //三轴姿态协方差矩阵
Imu_Data_Pub.orientation_covariance[4] = 1e6;
Imu_Data_Pub.orientation_covariance[8] = 1e-6;
Imu_Data_Pub.angular_velocity.x = Mpu6050.angular_velocity.x; //Triaxial angular velocity //三轴角速度
Imu_Data_Pub.angular_velocity.y = Mpu6050.angular_velocity.y;
Imu_Data_Pub.angular_velocity.z = Mpu6050.angular_velocity.z;
Imu_Data_Pub.angular_velocity_covariance[0] = 1e6; //Triaxial angular velocity covariance matrix //三轴角速度协方差矩阵
Imu_Data_Pub.angular_velocity_covariance[4] = 1e6;
Imu_Data_Pub.angular_velocity_covariance[8] = 1e-6;
Imu_Data_Pub.linear_acceleration.x = Mpu6050.linear_acceleration.x; //Triaxial acceleration //三轴线性加速度
Imu_Data_Pub.linear_acceleration.y = Mpu6050.linear_acceleration.y;
Imu_Data_Pub.linear_acceleration.z = Mpu6050.linear_acceleration.z;
imu_publisher->publish(Imu_Data_Pub); //Pub IMU topic //发布IMU话题
}
/**************************************
Date: January 28, 2021
Function: Publish the odometer topic, Contains position, attitude, triaxial velocity, angular velocity about triaxial, TF parent-child coordinates, and covariance matrix
功能: 发布里程计话题，包含位置、姿态、三轴速度、绕三轴角速度、TF父子坐标、协方差矩阵
***************************************/
void turn_on_robot::Publish_Odom()
{
//Convert the Z-axis rotation Angle into a quaternion for expression
//把Z轴转角转换为四元数进行表达
tf2::Quaternion q;
q.setRPY(0,0,Mpu6050_Data.imu_yaw);
geometry_msgs::msg::Quaternion odom_quat=tf2::toMsg(q);
nav_msgs::msg::Odometry odom; //Instance the odometer topic data //实例化里程计话题数据
odom.header.stamp = rclcpp::Node::now(); ;
odom.header.frame_id = odom_frame_id; // Odometer TF parent coordinates //里程计TF父坐标
odom.pose.pose.position.x = Robot_Pos.X; //Position //位置
odom.pose.pose.position.y = Robot_Pos.Y;
//odom.pose.pose.position.z = Robot_Pos.Z;
odom.pose.pose.orientation = odom_quat; //Posture, Quaternion converted by Z-axis rotation //姿态，通过Z轴转角转换的四元数
odom.child_frame_id = robot_frame_id; // Odometer TF subcoordinates //里程计TF子坐标
odom.twist.twist.linear.x = Robot_Vel.X; //Speed in the X direction //X方向速度
//odom.twist.twist.linear.y = Robot_Vel.Y; //Speed in the Y direction //Y方向速度
odom.twist.twist.angular.z = Mpu6050.angular_velocity.z; //Angular velocity around the Z axis //绕Z轴角速度
//There are two types of this matrix, which are used when the robot is at rest and when it is moving.Extended Kalman Filtering officially provides 2 matrices for the robot_pose_ekf feature pack
//这个矩阵有两种，分别在机器人静止和运动的时候使用。扩展卡尔曼滤波官方提供的2个矩阵，用于robot_pose_ekf功能包
//if(Robot_Vel.X== 0&&Robot_Vel.Y== 0&&Robot_Vel.Z== 0)
if(Robot_Vel.X== 0)
//If the velocity is zero, it means that the error of the encoder will be relatively small, and the data of the encoder will be considered more reliable
//如果velocity是零，说明编码器的误差会比较小，认为编码器数据更可靠
memcpy(&odom.pose.covariance, odom_pose_covariance2, sizeof(odom_pose_covariance2)),
memcpy(&odom.twist.covariance, odom_twist_covariance2, sizeof(odom_twist_covariance2));
else
//If the velocity of the trolley is non-zero, considering the sliding error that may be brought by the encoder in motion, the data of IMU is considered to be more reliable
//如果小车velocity非零，考虑到运动中编码器可能带来的滑动误差，认为imu的数据更可靠
memcpy(&odom.pose.covariance, odom_pose_covariance, sizeof(odom_pose_covariance)),
memcpy(&odom.twist.covariance, odom_twist_covariance, sizeof(odom_twist_covariance));
odom_publisher->publish(odom); //Pub odometer topic //发布里程计话题
}
/**************************************
Date: January 28, 2021
Function: Publish voltage-related information
功能: 发布电压相关信息
***************************************/
void turn_on_robot::Publish_Voltage()
{
std_msgs::msg::Float32 voltage_msgs; //Define the data type of the power supply voltage publishing topic //定义电源电压发布话题的数据类型
static float Count_Voltage_Pub=0;
if(Count_Voltage_Pub++>10)
{
Count_Voltage_Pub=0;
voltage_msgs.data = Power_voltage; //The power supply voltage is obtained //电源供电的电压获取
voltage_publisher->publish(voltage_msgs); //Post the power supply voltage topic unit: V, volt //发布电源电压话题单位：V、伏特
}
}
////////// 回充发布与回调 ////////
/**************************************
Date: January 17, 2022
Function: Pub the topic whether the robot finds the infrared signal (charging station)
功能: 发布机器人是否寻找到红外信号(充电桩)的话题
***************************************/
void turn_on_robot::Publish_RED()
{
std_msgs::msg::UInt8 msg;
msg.data=Red;
RED_publisher->publish(msg);
}
/**************************************
Date: January 14, 2022
Function: Publish a topic about whether the robot is charging
功能: 发布机器人是否在充电的话题
***************************************/
void turn_on_robot::Publish_Charging()
{
static bool last_charging;
std_msgs::msg::Bool msg;
msg.data=Charging;
Charging_publisher->publish(msg);
if(last_charging==false && Charging==true)cout<<GREEN<<"Robot is charging."<<endl<<RESET;
if(last_charging==true && Charging==false)cout<<RED <<"Robot charging has disconnected."<<endl<<RESET;
last_charging=Charging;
}
/**************************************
Date: January 28, 2021
Function: Publish charging current information
功能: 发布充电电流信息
***************************************/
void turn_on_robot::Publish_ChargingCurrent()
{
std_msgs::msg::Float32 msg;
msg.data=Charging_Current;
Charging_current_publisher->publish(msg);
}
/**************************************
Date: March 1, 2022
Function: Infrared connection speed topic subscription Callback function, according to the subscription command through the serial port to set the infrared connection speed
功能: 红外对接速度话题订阅回调函数Callback，根据订阅的指令通过串口发指令设置红外对接速度
***************************************/
void turn_on_robot::Red_Vel_Callback(const geometry_msgs::msg::Twist::SharedPtr twist_aux)
{
short transition; //intermediate variable //中间变量
Send_Data.tx[0]=FRAME_HEADER; //frame head 0x7B //帧头0X7B
Send_Data.tx[1] = 3; //Infrared docking speed setting flag bit = 3 //红外对接速度设置标志位=3
Send_Data.tx[2] = 0; //set aside //预留位
//The target velocity of the X-axis of the robot
//机器人x轴的目标线速度
transition=0;
transition = twist_aux->linear.x*1000; //将浮点数放大一千倍，简化传输
Send_Data.tx[4] = transition; //取数据的低8位
Send_Data.tx[3] = transition>>8; //取数据的高8位
//The target velocity of the Y-axis of the robot
//机器人y轴的目标线速度
transition=0;
transition = twist_aux->linear.y*1000;
Send_Data.tx[6] = transition;
Send_Data.tx[5] = transition>>8;
//The target angular velocity of the robot's Z axis
//机器人z轴的目标角速度
transition=0;
transition = twist_aux->angular.z*1000;
Send_Data.tx[8] = transition;
Send_Data.tx[7] = transition>>8;
Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //BCC check //BCC校验
Send_Data.tx[10]=FRAME_TAIL; //frame tail 0x7D //帧尾0X7D
try
{
Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //通过串口向下位机发送数据
}
catch (serial::IOException& e)
{
RCLCPP_ERROR(this->get_logger(),("Unable to send data through serial port")); //If sending data fails, an error message is printed //如果发送数据失败，打印错误信息
}
}
/**************************************
Date: January 14, 2022
Function: Subscription robot recharge flag bit topic, used to tell the lower machine speed command is normal command or recharge command
功能: 订阅机器人是否回充标志位话题，用于告诉下位机速度命令是正常命令还是回充命令
***************************************/
void turn_on_robot::Recharge_Flag_Callback(const std_msgs::msg::Int8::SharedPtr Recharge_Flag)
{
AutoRecharge=Recharge_Flag->data;
}
//服务
void turn_on_robot::Set_Charge_Callback(const shared_ptr<turtlesim::srv::Spawn::Request> req,shared_ptr<turtlesim::srv::Spawn::Response> res)
{
Send_Data.tx[0]=FRAME_HEADER; //frame head 0x7B //֡ͷ0X7B
if(round(req->x)==1)
Send_Data.tx[1] = 1;
else if(round(req->x)==2)
Send_Data.tx[1] = 2;
else if(round(req->x)==0)
Send_Data.tx[1] = 0,AutoRecharge=0;
Send_Data.tx[2] = 0;
Send_Data.tx[3] = 0;
Send_Data.tx[4] = 0;
Send_Data.tx[5] = 0;
Send_Data.tx[6] = 0;
Send_Data.tx[7] = 0;
Send_Data.tx[8] = 0;
Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //For the BCC check bits, see the Check_Sum function //BCCУ��λ������μ�Check_Sum����
Send_Data.tx[10]=FRAME_TAIL; //frame tail 0x7D //֡β0X7D
try
{
Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //ͨ����������λ����������
}
catch (serial::IOException& e)
{
res->name = "false";
}
if( Send_Data.tx[1]==0 )
{
if(charge_set_state==0)
AutoRecharge=0,res->name = "true";
else
res->name = "false";
}
else
{
if(charge_set_state==1)
res->name = "true";
else
res->name = "false";
}
return;
}
////////// 回充发布与回调 ////////
/**************************************
Date: January 28, 2021
Function: Serial port communication check function, packet n has a byte, the NTH -1 byte is the check bit, the NTH byte bit frame end.Bit XOR results from byte 1 to byte n-2 are compared with byte n-1, which is a BCC check
Input parameter: Count_Number: Check the first few bytes of the packet
功能: 串口通讯校验函数，数据包n有个字节，第n-1个字节为校验位，第n个字节位帧尾。第1个字节到第n-2个字节数据按位异或的结果与第n-1个字节对比，即为BCC校验
输入参数： Count_Number：数据包前几个字节加入校验 mode：对发送数据还是接收数据进行校验
***************************************/
unsigned char turn_on_robot::Check_Sum(unsigned char Count_Number,unsigned char mode)
{
unsigned char check_sum=0,k;
if(mode==0) //Receive data mode //接收数据模式
{
for(k=0;k<Count_Number;k++)
{
check_sum=check_sum^Receive_Data.rx[k]; //By bit or by bit //按位异或
}
}
if(mode==1) //Send data mode //发送数据模式
{
for(k=1;k<Count_Number;k++)
{
check_sum=check_sum^Send_Data.tx[k]; //By bit or by bit //按位异或
}
}
return check_sum; //Returns the bitwise XOR result //返回按位异或结果
}
//自动回充专用校验位
unsigned char turn_on_robot::Check_Sum_AutoCharge(unsigned char Count_Number,unsigned char mode)
{
unsigned char check_sum=0,k;
if(mode==0) //Receive data mode //接收数据模式
{
for(k=0;k<Count_Number;k++)
{
check_sum=check_sum^Receive_AutoCharge_Data.rx[k]; //By bit or by bit //按位异或
}
}
return check_sum;
}
/**************************************
Date: November 18, 2021
Function: Read and verify the data sent by the lower computer frame by frame through the serial port, and then convert the data into international units
功能: 通过串口读取并逐帧校验下位机发送过来的数据，然后数据转换为国际单位
***************************************/
bool turn_on_robot::Get_Sensor_Data_New()
{
short transition_16=0; //Intermediate variable //中间变量
//uint8_t i=0;
uint8_t check=0,check2=0, error=1,error2=1,Receive_Data_Pr[1]; //Temporary variable to save the data of the lower machine //临时变量，保存下位机数据
static int count,count2; //Static variable for counting //静态变量，用于计数
Stm32_Serial.read(Receive_Data_Pr,sizeof(Receive_Data_Pr)); //Read the data sent by the lower computer through the serial port //通过串口读取下位机发送过来的数据
/*//View the received raw data directly and debug it for use//直接查看接收到的原始数据，调试使用
ROS_INFO("%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x",
Receive_Data_Pr[0],Receive_Data_Pr[1],Receive_Data_Pr[2],Receive_Data_Pr[3],Receive_Data_Pr[4],Receive_Data_Pr[5],Receive_Data_Pr[6],Receive_Data_Pr[7],
Receive_Data_Pr[8],Receive_Data_Pr[9],Receive_Data_Pr[10],Receive_Data_Pr[11],Receive_Data_Pr[12],Receive_Data_Pr[13],Receive_Data_Pr[14],Receive_Data_Pr[15],
Receive_Data_Pr[16],Receive_Data_Pr[17],Receive_Data_Pr[18],Receive_Data_Pr[19],Receive_Data_Pr[20],Receive_Data_Pr[21],Receive_Data_Pr[22],Receive_Data_Pr[23]);
*/
Receive_Data.rx[count] = Receive_Data_Pr[0]; //Fill the array with serial data //串口数据填入数组
Receive_AutoCharge_Data.rx[count2] = Receive_Data_Pr[0];
Receive_Data.Frame_Header = Receive_Data.rx[0]; //The first part of the data is the frame header 0X7B //数据的第一位是帧头0X7B
Receive_Data.Frame_Tail = Receive_Data.rx[23]; //The last bit of data is frame tail 0X7D //数据的最后一位是帧尾0X7D
//接收到自动回充数据的帧头、上一个数据是24字节的帧尾，表明自动回充数据开始到来
if((Receive_Data_Pr[0] == AutoCharge_HEADER )||count2>0)
count2++;
else
count2=0;
if(Receive_Data_Pr[0] == FRAME_HEADER || count>0) //Ensure that the first data in the array is FRAME_HEADER //确保数组第一个数据为FRAME_HEADER
count++;
else
count=0;
//自动回充数据处理
if(count2 == AutoCharge_DATA_SIZE)
{
count2=0;
if(Receive_AutoCharge_Data.rx[AutoCharge_DATA_SIZE-1]==AutoCharge_TAIL) //确认帧尾
{
check2 = Check_Sum_AutoCharge(6,0);//校验位计算
if(check2 == Receive_AutoCharge_Data.rx[AutoCharge_DATA_SIZE-2]) //校验正确
{
error2=0;
}
if(error2 == 0) //校验正确开始赋值
{
transition_16 = 0;
transition_16 |= Receive_AutoCharge_Data.rx[1]<<8;
transition_16 |= Receive_AutoCharge_Data.rx[2];
Charging_Current = transition_16/1000+(transition_16 % 1000)*0.001; //充电电流
Red = Receive_AutoCharge_Data.rx[3]; //红外接受状态
Charging = Receive_AutoCharge_Data.rx[4];//小车充电状态
charge_set_state = Receive_AutoCharge_Data.rx[5];
check_AutoCharge_data = true; //数据成功接收标志位
}
}
}
if(count == 24) //Verify the length of the packet //验证数据包的长度
{
count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
if(Receive_Data.Frame_Tail == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
{
check=Check_Sum(22,READ_DATA_CHECK); //BCC check passes or two packets are interlaced //BCC校验通过或者两组数据包交错
if(check == Receive_Data.rx[22])
{
error=0; //XOR bit check successful //异或位校验成功
}
if(error == 0)
{
/*//Check receive_data.rx for debugging use //查看Receive_Data.rx，调试使用
ROS_INFO("%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x-%x",
Receive_Data.rx[0],Receive_Data.rx[1],Receive_Data.rx[2],Receive_Data.rx[3],Receive_Data.rx[4],Receive_Data.rx[5],Receive_Data.rx[6],Receive_Data.rx[7],
Receive_Data.rx[8],Receive_Data.rx[9],Receive_Data.rx[10],Receive_Data.rx[11],Receive_Data.rx[12],Receive_Data.rx[13],Receive_Data.rx[14],Receive_Data.rx[15],
Receive_Data.rx[16],Receive_Data.rx[17],Receive_Data.rx[18],Receive_Data.rx[19],Receive_Data.rx[20],Receive_Data.rx[21],Receive_Data.rx[22],Receive_Data.rx[23]);
*/
Receive_Data.Flag_Stop=Receive_Data.rx[1]; //set aside //预留位
Robot_Vel.X = Odom_Trans(Receive_Data.rx[2],Receive_Data.rx[3]); //Get the speed of the moving chassis in the X direction //获取运动底盘X方向速度
//Robot_Vel.Y = Odom_Trans(Receive_Data.rx[4],Receive_Data.rx[5]); //Get the speed of the moving chassis in the Y direction, The Y speed is only valid in the omnidirectional mobile robot chassis
//获取运动底盘Y方向速度，Y速度仅在全向移动机器人底盘有效
//Robot_Vel.Z = Odom_Trans(Receive_Data.rx[6],Receive_Data.rx[7]); //Get the speed of the moving chassis in the Z direction //获取运动底盘Z方向速度
//MPU6050 stands for IMU only and does not refer to a specific model. It can be either MPU6050 or MPU9250
//Mpu6050仅代表IMU，不指代特定型号，既可以是MPU6050也可以是MPU9250
Mpu6050_Data.imu_rol = IMU_Trans(Receive_Data.rx[4],Receive_Data.rx[5]) * 0.01 * 3.14159/180;
Mpu6050_Data.imu_yaw = IMU_Trans(Receive_Data.rx[6],Receive_Data.rx[7]) * 0.01 * 3.14159/180;
Mpu6050_Data.accele_x_data = IMU_Trans(Receive_Data.rx[8],Receive_Data.rx[9]); //Get the X-axis acceleration of the IMU //获取IMU的X轴加速度
Mpu6050_Data.accele_y_data = IMU_Trans(Receive_Data.rx[10],Receive_Data.rx[11]); //Get the Y-axis acceleration of the IMU //获取IMU的Y轴加速度
Mpu6050_Data.accele_z_data = IMU_Trans(Receive_Data.rx[12],Receive_Data.rx[13]); //Get the Z-axis acceleration of the IMU //获取IMU的Z轴加速度
Mpu6050_Data.gyros_x_data = IMU_Trans(Receive_Data.rx[14],Receive_Data.rx[15]); //Get the X-axis angular velocity of the IMU //获取IMU的X轴角速度
Mpu6050_Data.gyros_y_data = IMU_Trans(Receive_Data.rx[16],Receive_Data.rx[17]); //Get the Y-axis angular velocity of the IMU //获取IMU的Y轴角速度
Mpu6050_Data.gyros_z_data = IMU_Trans(Receive_Data.rx[18],Receive_Data.rx[19]); //Get the Z-axis angular velocity of the IMU //获取IMU的Z轴角速度
//Linear acceleration unit conversion is related to the range of IMU initialization of STM32, where the range is ±2g=19.6m/s^2
//线性加速度单位转化，和STM32的IMU初始化的时候的量程有关,这里量程±2g=19.6m/s^2
Mpu6050.linear_acceleration.x = Mpu6050_Data.accele_x_data * 0.01 * 9.8;
Mpu6050.linear_acceleration.y = Mpu6050_Data.accele_y_data * 0.01 * 9.8;
Mpu6050.linear_acceleration.z = Mpu6050_Data.accele_z_data * 0.01 * 9.8;
//The gyroscope unit conversion is related to the range of STM32's IMU when initialized. Here, the range of IMU's gyroscope is ±500°/s
//Because the robot generally has a slow Z-axis speed, reducing the range can improve the accuracy
//陀螺仪单位转化，和STM32的IMU初始化的时候的量程有关，这里IMU的陀螺仪的量程是±500°/s
//因为机器人一般Z轴速度不快，降低量程可以提高精度
Mpu6050.angular_velocity.x = Mpu6050_Data.gyros_x_data * 0.01 *3.14159/180;
Mpu6050.angular_velocity.y = Mpu6050_Data.gyros_y_data * 0.01 *3.14159/180;
Mpu6050.angular_velocity.z = Mpu6050_Data.gyros_z_data * 0.01 *3.14159/180;
//Get the battery voltage
//获取电池电压
transition_16 = 0;
transition_16 |= Receive_Data.rx[20]<<8;
transition_16 |= Receive_Data.rx[21];
Power_voltage = transition_16/1000+(transition_16 % 1000)*0.001; //Unit conversion millivolt(mv)->volt(v) //单位转换毫伏(mv)->伏(v)
return true;
}
}
}
return false;
}
/**************************************
Date: January 28, 2021
Function: Loop access to the lower computer data and issue topics
功能: 循环获取下位机数据与发布话题
***************************************/
void turn_on_robot::Control()
{
//_Last_Time = ros::Time::now();
_Last_Time = rclcpp::Node::now();
while(rclcpp::ok())
{
try
{
//_Now = ros::Time::now();
_Now = rclcpp::Node::now();
Sampling_Time = (_Now - _Last_Time).seconds(); //Retrieves time interval, which is used to integrate velocity to obtain displacement (mileage)
//获取时间间隔，用于积分速度获得位移(里程)
if (true == Get_Sensor_Data_New()) //The serial port reads and verifies the data sent by the lower computer, and then the data is converted to international units
//通过串口读取并校验下位机发送过来的数据，然后数据转换为国际单位
{
//Robot_Pos.X+=(Robot_Vel.X * cos(Robot_Pos.Z) - Robot_Vel.Y * sin(Robot_Pos.Z)) * Sampling_Time; //Calculate the displacement in the X direction, unit: m //计算X方向的位移，单位：m
//Robot_Pos.Y+=(Robot_Vel.X * sin(Robot_Pos.Z) + Robot_Vel.Y * cos(Robot_Pos.Z)) * Sampling_Time; //Calculate the displacement in the Y direction, unit: m //计算Y方向的位移，单位：m
//Robot_Pos.Z+=Robot_Vel.Z * Sampling_Time; //The angular displacement about the Z axis, in rad //绕Z轴的角位移，单位：rad
Robot_Pos.X+=(Robot_Vel.X * cos(Mpu6050_Data.imu_yaw)) * Sampling_Time; //Calculate the displacement in the X direction, unit: m //计算X方向的位移，单位：m
Robot_Pos.Y+=(Robot_Vel.X * sin(Mpu6050_Data.imu_yaw)) * Sampling_Time; //Calculate the displacement in the Y direction, unit: m //计算Y方向的位移，单位：m
//Robot_Pos.Z = 0 ;
//Calculate the three-axis attitude from the IMU with the angular velocity around the three-axis and the three-axis acceleration
//通过IMU绕三轴角速度与三轴加速度计算三轴姿态
Quaternion_Solution(Mpu6050.angular_velocity.x, Mpu6050.angular_velocity.y, Mpu6050.angular_velocity.z,\
Mpu6050.linear_acceleration.x, Mpu6050.linear_acceleration.y, Mpu6050.linear_acceleration.z);
Publish_Odom(); //Pub the speedometer topic //发布里程计话题
Publish_ImuSensor(); //Pub the IMU topic //发布IMU话题
Publish_Voltage(); //Pub the topic of power supply voltage //发布电源电压话题
_Last_Time = _Now; //Record the time and use it to calculate the time interval //记录时间，用于计算时间间隔
}
//自动回充数据话题
if(check_AutoCharge_data)
{
Publish_Charging(); //Pub a topic about whether the robot is charging //发布机器人是否在充电的话题
Publish_RED(); //Pub the topic whether the robot finds the infrared signal (charging station) //发布机器人是否寻找到红外信号(充电桩)的话题
Publish_ChargingCurrent(); //Pub the charging current topic //发布充电电流话题
check_AutoCharge_data = false;
}
rclcpp::spin_some(this->get_node_base_interface()); //The loop waits for the callback function //循环等待回调函数
}
catch (const rclcpp::exceptions::RCLError & e )
{
RCLCPP_ERROR(this->get_logger(),"unexpectedly failed whith %s",e.what());
}
}
}
/**************************************
Date: January 28, 2021
Function: Constructor, executed only once, for initialization
功能: 构造函数, 只执行一次，用于初始化
***************************************/
turn_on_robot::turn_on_robot():rclcpp::Node ("wheeltec_robot")
{
Sampling_Time=0;
Power_voltage=0;
//Clear the data
//清空数据
memset(&Robot_Pos, 0, sizeof(Robot_Pos));
memset(&Robot_Vel, 0, sizeof(Robot_Vel));
memset(&Receive_Data, 0, sizeof(Receive_Data));
memset(&Send_Data, 0, sizeof(Send_Data));
memset(&Mpu6050_Data, 0, sizeof(Mpu6050_Data));
//ros::NodeHandle private_nh("~"); //Create a node handle //创建节点句柄
//The private_nh.param() entry parameter corresponds to the initial value of the name of the parameter variable on the parameter server
//private_nh.param()入口参数分别对应：参数服务器上的名称 参数变量名 初始值
this->declare_parameter<int>("serial_baud_rate",115200);
this->declare_parameter<std::string>("usart_port_name", "/dev/ttyACM0");
this->declare_parameter<std::string>("odom_frame_id", "odom_combined");
this->declare_parameter<std::string>("robot_frame_id", "base_footprint");
this->declare_parameter<std::string>("gyro_frame_id", "gyro_link");
this->get_parameter("serial_baud_rate", serial_baud_rate);//Communicate baud rate 115200 to the lower machine //和下位机通信波特率115200
this->get_parameter("usart_port_name", usart_port_name);//Fixed serial port number //固定串口号
this->get_parameter("odom_frame_id", odom_frame_id);//The odometer topic corresponds to the parent TF coordinate //里程计话题对应父TF坐标
this->get_parameter("robot_frame_id", robot_frame_id);//The odometer topic corresponds to sub-TF coordinates //里程计话题对应子TF坐标
this->get_parameter("gyro_frame_id", gyro_frame_id);//IMU topics correspond to TF coordinates //IMU话题对应TF坐标
odom_publisher = create_publisher<nav_msgs::msg::Odometry>("odom", 2);//Create the odometer topic publisher //创建里程计话题发布者
imu_publisher = create_publisher<sensor_msgs::msg::Imu>("imu/data_raw", 2); //Create an IMU topic publisher //创建IMU话题发布者
voltage_publisher = create_publisher<std_msgs::msg::Float32>("PowerVoltage", 1);//Create a battery-voltage topic publisher //创建电池电压话题发布者
//回充发布者
Charging_publisher = create_publisher<std_msgs::msg::Bool>("robot_charging_flag", 10);
Charging_current_publisher = create_publisher<std_msgs::msg::Float32>("robot_charging_current", 10);
RED_publisher = create_publisher<std_msgs::msg::UInt8>("robot_red_flag", 10);
//回充订阅者
Red_Vel_Sub = create_subscription<geometry_msgs::msg::Twist>(
"red_vel", 10, std::bind(&turn_on_robot::Red_Vel_Callback, this, std::placeholders::_1));
Recharge_Flag_Sub = create_subscription<std_msgs::msg::Int8>(
"robot_recharge_flag", 10, std::bind(&turn_on_robot::Recharge_Flag_Callback, this,std::placeholders::_1));
//回充服务提供
SetCharge_Service=this->create_service<turtlesim::srv::Spawn>\
("/set_charge",std::bind(&turn_on_robot::Set_Charge_Callback,this,
std::placeholders::_1 ,std::placeholders::_2));
//Set the velocity control command callback function
//速度控制命令订阅回调函数设置
Cmd_Vel_Sub = create_subscription<geometry_msgs::msg::Twist>(
"cmd_vel", 2, std::bind(&turn_on_robot::Cmd_Vel_Callback, this, _1));
RCLCPP_INFO(this->get_logger(),"wheeltec_robot Data ready"); //Prompt message //提示信息
try
{
//Attempts to initialize and open the serial port //尝试初始化与开启串口
Stm32_Serial.setPort(usart_port_name); //Select the serial port number to enable //选择要开启的串口号
Stm32_Serial.setBaudrate(serial_baud_rate); //Set the baud rate //设置波特率
serial::Timeout _time = serial::Timeout::simpleTimeout(2000); //Timeout //超时等待
Stm32_Serial.setTimeout(_time);
Stm32_Serial.open(); //Open the serial port //开启串口
}
catch (serial::IOException& e)
{
RCLCPP_ERROR(this->get_logger(),"wheeltec_robot can not open serial port,Please check the serial port cable! "); //If opening the serial port fails, an error message is printed //如果开启串口失败，打印错误信息
}
if(Stm32_Serial.isOpen())
{
RCLCPP_INFO(this->get_logger(),"wheeltec_robot serial port opened"); //Serial port opened successfully //串口开启成功提示
}
}
/**************************************
Date: January 28, 2021
Function: Destructor, executed only once and called by the system when an object ends its life cycle
功能: 析构函数，只执行一次，当对象结束其生命周期时系统会调用这个函数
***************************************/
turn_on_robot::~turn_on_robot()
{
//Sends the stop motion command to the lower machine before the turn_on_robot object ends
//对象turn_on_robot结束前向下位机发送停止运动命令
Send_Data.tx[0]=0x06;
Send_Data.tx[1] = FRAME_HEADER;
Send_Data.tx[2] = 0;
//The target velocity of the X-axis of the robot //机器人X轴的目标线速度
Send_Data.tx[4] = 0;
Send_Data.tx[3] = 0;
//The target velocity of the Y-axis of the robot //机器人Y轴的目标线速度
Send_Data.tx[6] = 0;
Send_Data.tx[5] = 0;
//The target velocity of the Z-axis of the robot //机器人Z轴的目标角速度
Send_Data.tx[8] = 0;
Send_Data.tx[7] = 0;
Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //Check the bits for the Check_Sum function //校验位，规则参见Check_Sum函数
Send_Data.tx[10]=0x0d;
Send_Data.tx[11]=0x0a;
try
{
Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Send data to the serial port //向串口发数据
}
catch (serial::IOException& e)
{
RCLCPP_ERROR(this->get_logger(),"Unable to send data through serial port"); //If sending data fails, an error message is printed //如果发送数据失败,打印错误信息
}
Stm32_Serial.close(); //Close the serial port //关闭串口
RCLCPP_INFO(this->get_logger(),"Shutting down"); //Prompt message //提示信息
}
turn_on_wheeltec_robot.launch.py文件代码为：
import os
from pathlib import Path
import launch
from launch.actions import SetEnvironmentVariable
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
IncludeLaunchDescription, SetEnvironmentVariable)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import PushRosNamespace
import launch_ros.actions
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('turn_on_wheeltec_robot')
launch_dir = os.path.join(bringup_dir, 'launch')
ekf_config = Path(get_package_share_directory('turn_on_wheeltec_robot'), 'config', 'ekf.yaml')
ekf_carto_config = Path(get_package_share_directory('turn_on_wheeltec_robot'), 'config', 'ekf_carto.yaml')
imu_config = Path(get_package_share_directory('turn_on_wheeltec_robot'), 'config', 'imu.yaml')
carto_slam = LaunchConfiguration('carto_slam', default='false')
carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false')
wheeltec_robot = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')),
)
robot_ekf = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'wheeltec_ekf.launch.py')),
launch_arguments={'carto_slam':carto_slam}.items(),
)
base_to_link = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_to_link',
arguments=['0', '0', '0','0', '0','0','base_footprint','base_link'],
)
base_to_gyro = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_to_gyro',
arguments=['0', '0', '0','0', '0','0','base_link','gyro_link'],
)
imu_filter_node = launch_ros.actions.Node(
package='imu_filter_madgwick',
executable='imu_filter_madgwick_node',
parameters=[imu_config]
)
# joint_state_publisher_node = launch_ros.actions.Node(
# package='joint_state_publisher',
# executable='joint_state_publisher',
# name='joint_state_publisher',
# )
#select a robot model,the default model is mini_mec
#minibot.launch.py contains commonly used robot models
#launch_arguments choices:mini_mec/mini_akm/mini_tank/mini_4wd/mini_diff/mini_omni/brushless_senior_diff
#!!!At the same time, you need to modify ld.add_action(minibot_type) and #ld.add_action(flagship_type)
minibot_type = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description_minibot.launch.py')),
launch_arguments={'bike_robot': 'true'}.items(),
)
#robot_mode_description.launch.py contains flagship products, usually larger chassis robots
#launch_arguments choices:
#senior_akm/top_akm_bs/top_akm_dl
#senior_mec_bs/senior_mec_dl/top_mec_bs/top_mec_dl/ mec_EightDrive_robot/flagship_mec_bs_robot/flagship_mec_dl_robot��
#senior_omni/top_omni
#senior_4wd_bs_robot/senior_4wd_dl_robot/flagship_4wd_bs_robot/flagship_4wd_dl_robot/top_4wd_bs_robot/top_4wd_dl_robot
#senior_diff_robot/four_wheel_diff_bs/four_wheel_diff_dl/flagship_four_wheel_diff_bs_robot/flagship_four_wheel_diff_dl_robot
#!!!At the same time, you need to modify ld.add_action(flagship_type) and #ld.add_action(minibot_type)
flagship_type = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')),
launch_arguments={'senior_akm': 'true'}.items(),
)
ld = LaunchDescription()
ld.add_action(minibot_type)
#ld.add_action(flagship_type)
ld.add_action(carto_slam_dec)
ld.add_action(wheeltec_robot)
ld.add_action(base_to_link)
ld.add_action(base_to_gyro)
# ld.add_action(joint_state_publisher_node)
ld.add_action(imu_filter_node)
ld.add_action(robot_ekf)
return ld
base_serial.launch.py文件代码为：
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
import launch_ros.actions
#def launch(launch_descriptor, argv):
def generate_launch_description():
return LaunchDescription([
launch_ros.actions.Node(
package='turn_on_wheeltec_robot',
executable='wheeltec_robot_node',
output='screen',
parameters=[{'usart_port_name': '/dev/ttyACM0',
'serial_baud_rate':115200,
'robot_frame_id': 'base_footprint',
'odom_frame_id': 'odom_combined',
'cmd_vel': 'cmd_vel',}],
)
])
robot_mode_description_minibot.launch.py文件代码为：
import os
from ament_index_python.packages import get_package_share_directory
import launch_ros.actions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml
def generate_robot_node(robot_urdf,child):
return launch_ros.actions.Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name=f'robot_state_publisher_{child}',
arguments=[os.path.join(get_package_share_directory('wheeltec_robot_urdf'), 'urdf', robot_urdf)],
)
def generate_static_transform_publisher_node(translation, rotation, parent, child):
return launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name=f'base_to_{child}',
arguments=[translation[0], translation[1], translation[2], rotation[0], rotation[1], rotation[2], parent, child],
)
def generate_launch_description():
bike_robot = LaunchConfiguration('bike_robot', default='false')
bike_robot_ = GroupAction(
condition=IfCondition(bike_robot),
actions=[
generate_robot_node('xuan_bike_robot.urdf','bike_robot'),
generate_static_transform_publisher_node(['0.048', '0', '0.18'], ['0', '0', '0'], 'base_link', 'laser'),
generate_static_transform_publisher_node(['0.048', '0', '0.18'], ['0', '0', '0'], 'base_link', 'camera_link'),
])
# Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
# Declare the launch options
#ld.add_action(declare_use_composition_cmd)
# Add the actions to launch all of the localiztion nodes
ld.add_action(mini_mec_)
ld.add_action(mini_akm_)
ld.add_action(mini_tank_)
ld.add_action(mini_4wd_)
ld.add_action(mini_diff_)
ld.add_action(brushless_senior_diff_)
ld.add_action(bike_robot_)
return ld
xuan_bike_robot.urdf文件代码为：
<?xml version="1.0"?>
<robot name="wheeltec_robot">
<link name="base_link">
<visual>
<geometry>
<mesh filename="file:///home/deepbot/ros-relate/wheeltec_ros2/src/wheeltec_robot_urdf/wheeltec_robot_urdf/meshes/Xuan-release.stl"scale="0.001 0.001 0.001"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="blue">
<color rgba="0 0 0.8 0.5"/>
</material>
</visual>
</link>
</robot>
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