ROS中使用catkin_make编译和上传arduino程序

步骤一：下载rosserial_arduino功能包

sudo apt-get install ros-melodic-rosserial-arduino

步骤二：下载和编译安装aduino-cmake (Tips:如果安装了rosserial就不用安装arduino-cmake了)

1、创建arduino_upload_ws工作空间：

cd ~
mkdir arduino_upload_ws/src -p

2、下载：

cd arduino_upload_ws
git clone https://github.com/queezythegreat/arduino-cmake.git

3、编译：

cd arduino-cmake
mkdir build
cmake ..
make

步骤三：为串口添加权限

cd /dev
sudo chmod 777 ttyACM*

步骤四：测试

cd ~/arduino_upload_ws/src
catkin_init_workspace
catkin_create_pkg helloworld rosserial_arduino rosserial_client std_msgs
cd helloworld
mkdir firmware
cd firemware
vim chatter.cpp

输入以下内容：

#include <ros.h>
#include <std_msgs/String.h>
//Arduino.h头文件，它包含了所有的Arduino函数(digitalRead, analogRead, delay, etc.)
#include <Arduino.h>

ros::NodeHandle nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

void setup()
{
  nh.initNode();
  nh.advertise(chatter);
}

void loop()
{
  str_msg.data = hello;
  chatter.publish( &str_msg );
  nh.spinOnce();
  delay(1000);
}

接着创建CMakeLists.txt:

vim CMakeLists.txt

输入以下内容:

cmake_minimum_required(VERSION 2.8.3)

include_directories(${ROS_LIB_DIR})

# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)

generate_arduino_firmware(hello
  SRCS chatter.cpp ${ROS_LIB_DIR}/time.cpp
  BOARD mega2560
  PORT /dev/ttyACM0
)

回到上一级目录，添加CMakeLists.txt:

cd ..
mv CMakeLists.txt CMakeLists.back
vim CMakeLists.txt

输入以下内容：

cmake_minimum_required(VERSION 2.8.3)
project(helloworld)

find_package(catkin REQUIRED COMPONENTS
  rosserial_arduino
  rosserial_client
)

catkin_package()

rosserial_generate_ros_lib(
  PACKAGE rosserial_arduino
  SCRIPT make_libraries.py
)

rosserial_configure_client(
  DIRECTORY firmware
  TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN}
)

rosserial_add_client_target(firmware hello ALL)
rosserial_add_client_target(firmware hello-upload)

• 1、编译：

cd ~/arduino_upload_ws
catkin_make helloworld_firmware_hello

• 2、上传：

cd ~/arduino_upload_ws
catkin_make helloworld_firmware_hello-upload

成功！

---------------------------------------------------分界线-----------------------------------------------

*可能遇到的问题

1、{nullptr} was not declared in this scope

这个问题为开始一直搞不明白，后来发现三c++11的规则，所以只需要在对应包中加入c++11规则就可以了

例如helloworld这个功能包，需要改的地方就是firmware里的CMakeLists.txt:
原内容：

```bash
cmake_minimum_required(VERSION 2.8.3)

include_directories(${ROS_LIB_DIR})

# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)

generate_arduino_firmware(hello
  SRCS chatter.cpp ${ROS_LIB_DIR}/time.cpp
  BOARD mega2560
  PORT /dev/ttyACM0
)

修改后：

cmake_minimum_required(VERSION 2.8.3)

include_directories(${ROS_LIB_DIR})
 #添加c++11的支持
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)

generate_arduino_firmware(art_table_arduino
  SRCS Art_table_rosserial.cpp ${ROS_LIB_DIR}/time.cpp
  BOARD mega2560
  PORT /dev/ttyACM0
)

编译的时候最好是对单个烧写程序进行编译！所以我们这时编译使用的命令应该是：

catkin_make helloworld_firmware_hello

成功！

2、有可能遇到的rosserial问题

创建的工作空间在有rosserial功能包的情况下最好先单独编译rosserial然后再单独编译arduino烧写程序！