ROS与STM32通信(一)-rosserial

硬件

• STM32F103c8t6
• OLED(I2C)
• USB2TTL
• Stlink

接线

OLED(GPIO模拟I2C)

硬件	引脚
OLEDSCL	PA4
OLEDSDA	PA5

USART1

硬件	引脚	作用
RX	PA9	USART1_TX
TX	PA10	USART1_RX

LED

硬件	引脚
LED0	PC13
LED1	PC15

软件

• STM32CubeMX
• Clion

STM32CubeMX配置

• SYS->Debug->Serial Wire
• RCC->HSE->Crystal/Ceramic Resonator
• PC15->OutPut ,Label为LED0
• PC13->OutPut ,Label为LED1
• TIM1->Clock Source->Internal Clock
• 时钟树，时钟设置为72M
• USART1->Asynchronous Baud Rate: 115200

设置DMA

开启串口中断

rosserial

rosserial是ROS中的一个重要模块,它实现了ROS通信协议与各类嵌入式硬件平台之间的桥接,大大简化了ROS在底层硬件上的移植和应用。rosserial通过消息序列化和常用串行通信接口,实现了ROS主机和嵌入式客户端之间的消息交互,为各种嵌入式平台提供了C++和Python的ROS客户端库,使得在这些硬件上也能方便地使用ROS的通信架构来进行节点管理、话题通信和服务调用。rosserial还支持动态主题和服务,以较小的代码占用实现ROS功能,具有很强的可移植性。因此,rosserial是ROS物联网和机器人应用不可或缺的重要组件,极大地便利了ROS在各类嵌入式系统和小型机器人产品上的移植应用和开发。

rosserial_WIKI

rosserial_stm32 Github地址

本文资源包stm32f103c8t6_rosserial， CSDN资源下载

移植

下载上述资源stm32f103c8t6_rosserial

git clone https://github.com/GHigher12/STM32f103c8t6_rosserial.git

or 直接在CSDN下载

将RosLibs文件夹添加到stm32工作文件里

还有Core文件夹中的mainpp.h , round.h, mainpp.cpp

此时如果用Clion作为开发环境还需要修改CMakeList.txt

包含文件的路径

main.c使用

//...
#include "mainpp.h"
//...
int main(void)
{
//...
  setup();
  while (1)
  {
      loop();
  }
  /* USER CODE END 3 */
}

上位机订阅-下位机发布

上位机订阅

python订阅 demo01_sub_py.py

#! /usr/bin/env python
import rospy
from std_msgs.msg import String

if __name__ == "__main__":
    rospy.init_node("ros_pc_pub")
    pub = rospy.Publisher("pc_to_stm32",String,queue_size=10)
    msg = String()
    msg_front = "ros_2_stm32->"
    count = 0
    rate = rospy.Rate(1)
    while not rospy.is_shutdown():
        msg.data = msg_front + str(count)
        pub.publish(msg)
        rate.sleep()
        rospy.loginfo("发布的数据为:%s",msg.data)
        count += 1

c++订阅 demo01_sub_c.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>


void doMsg(const std_msgs::String::ConstPtr &msg)
{
    ROS_INFO("订阅的数据为: %s", msg->data.c_str());
}

int main(int argc, char *argv[])
{

    setlocale(LC_ALL,"");
    ros::init(argc, argv, "ros_pc_sub");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("stm32_to_pc", 10, doMsg);
    ros::spin();
    return 0;
}

安装rosserial_python

sudo apt-get install ros-noetic-rosserial-python

下位机发布

mainpp.cpp

#include <mainpp.h>
#include <ros.h>
#include <std_msgs/String.h>
#include "main.h"

ros::NodeHandle nh;

std_msgs::String stm32_to_pc_word;

ros::Publisher stm32_to_pc("stm32_to_pc", &stm32_to_pc_word);

void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart){
  nh.getHardware()->flush();
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
  nh.getHardware()->reset_rbuf();
}
char hello[13] = "hello ros!";
u8 cnt = 0;
void setup(void)
{
    nh.initNode();
	nh.advertise(stm32_to_pc);
}

void loop(void)
{
    cnt+=1;
    sprintf(oledBuf,"stm32_2_ros->%d",cnt);
    OLED_ShowString(0,24,(u8*)oledBuf,16);
    OLED_Refresh();
    stm32_to_pc_word.data = oledBuf;
    HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
    HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
	HAL_Delay(1000);
	stm32_to_pc.publish(&stm32_to_pc_word);
	nh.spinOnce();
}

编译将程序烧录到stm32中

通信

将usb2ttl连接好usart1，连接电脑

执行下列命令

lsusb
ls /dev/ttyUSB*
sudo chmod 777 /dev/ttyUSB0

启动rosserial_python节点

roscore
rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

出现以下内容则表示运行正常

[INFO] [1690446448.903399]: ROS Serial Python Node
[INFO] [1690446448.908570]: Connecting to /dev/ttyUSB0 at 115200 baud
[INFO] [1690446451.013146]: Requesting topics...
[INFO] [1690446451.772474]: Note: publish buffer size is 512 bytes
[INFO] [1690446451.774498]: Setup publisher on stm32_to_pc [std_msgs/String]

可使用rostopic echo /stm32_to_pc查看话题

不过这里会出现[ERROR] [1690446652.290474]: Lost sync with device, restarting...报错，导致收发频率不一致，博主现在还没解决，如有读者有解决办法，可在评论留言。

python订阅

cd ~/catkin_ws
source ./devel/setup.bash
rosrun hello_vscode demo01_sub_py.py

c++订阅

cd ~/catkin_ws
source ./devel/setup.bash
rosrun hello_vscode demo01_sub_c

下位机显示

查看rqt_graph

上位机发布-下位机订阅

上位机发布

python发布 demo01_pub_py.py

#! /usr/bin/env python
import rospy
from std_msgs.msg import String

if __name__ == "__main__":
    rospy.init_node("ros_pc_pub")
    pub = rospy.Publisher("pc_to_stm32",String,queue_size=10)
    msg = String()
    msg_front = "ros_2_stm32->"
    count = 0
    rate = rospy.Rate(1)
    while not rospy.is_shutdown():
        msg.data = msg_front + str(count)
        pub.publish(msg)
        rate.sleep()
        rospy.loginfo("发布的数据为:%s",msg.data)
        count += 1

c++发布 demo01_pub_c.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    ros::init(argc, argv, "ros_pc_pub");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<std_msgs::String>("pc_to_stm32", 10);
    std_msgs::String msg;
    ros::Rate rate(1);
    int count = 0;
    ros::Duration(3).sleep();
    while (ros::ok)
    {
        count++;
        std::stringstream ss;
        ss << "ros_2_stm32->" << count;
        msg.data = ss.str();
        pub.publish(msg);
        ROS_INFO("发布的数据为: %s", ss.str().c_str());
        rate.sleep();
        ros::spinOnce();  //处理回调函数
    }
    return 0;
}

下位机订阅

mainpp.cpp

#include <mainpp.h>
#include <ros.h>
#include <std_msgs/String.h>
#include "main.h"
void command_callback( const std_msgs::String& rxbuff);

ros::NodeHandle nh;

std_msgs::String stm32_to_pc_word;

ros::Subscriber<std_msgs::String> cmd_sub("pc_to_stm32", command_callback);

void command_callback(const std_msgs::String &rxbuff)
{
    char oled_rxbuff[128];
    stm32_to_pc_word = rxbuff;
    snprintf(oled_rxbuff, sizeof(oled_rxbuff), "%s", rxbuff.data);
    OLED_ShowString(0,24, (u8*)oled_rxbuff,16);
    OLED_Refresh();
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart){
  nh.getHardware()->flush();
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
  nh.getHardware()->reset_rbuf();
}
void setup(void)
{
    nh.initNode();
	nh.subscribe(cmd_sub);
}

void loop(void)
{
    HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
    HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
	HAL_Delay(1000);
	nh.spinOnce();
}

通信

python发布

rosrun hello_vscode demo01_pub_py.py

c++发布

rosrun hello_vscode demo01_pub_c

下位机显示

查看rqt_graph