ROS为上位机与STM32为下位机串口通讯（一）
Eleven-boy 2019-07-10 15:27:27 1715 收藏 15
分类专栏： ROS学习
版权
STM32通过串口向ROS上位机发送信息
主要实现了STM32 通过串口向ROS上位机发送数据，发布者将接收到的数据发布出去并打印出来，订阅者订阅发布者发布的消息并打印出来，最后通过roslaunch启动。
STM32端
u16 times=0;
int arr[10] = {0,1,2,3,4,5,6,7,8,9};
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
delay_init(168);
uart_init(115200); //波特率115200
while(1)
{
times++;
printf("%3d\r\n",times);
if(times>=100) times=0;
delay_ms(100);
}
}
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ROS端
创建工作空间
mkdir -p ~/serial/src
cd ~/serial/src
catkin_init_workspace
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编译
cd ~/serial/
catkin_make
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设置环境变量
echo "source ~/serial/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
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创建功能包
catkin_create_pkg serial_communication roscpp std_msgs
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在/catkin_ws/src/serial_communication/src/下新建serial_communication_pub.cpp和serial_communication_sub.cpp
serial_communication_pub.cpp内容如下
#include <string>
#include <ros/ros.h>// 包含ROS的头文件
#include <boost/asio.hpp>//包含boost库函数
#include <boost/bind.hpp>
#include <std_msgs/String.h>//ros定义的String数据类型
using namespace std;
using namespace boost::asio;//定义一个命名空间，用于后面的读写操作
unsigned char times_buf[5];//接收区
int main(int argc,char** argv)
{
ros::init(argc,argv,"serial_communication_pub");//初始化节点
ros::NodeHandle n;//创建节点句柄
/*创建一个Publisher,发布名为chatter的topic,消息类型为std_msgs::String*/
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);
ros::Rate loop_rate(10);//设置循环频率10Hz
io_service iosev;
serial_port sp(iosev, "/dev/ttyUSB0");//定义传输的串口
sp.set_option(serial_port::baud_rate(115200));//波特率115200
sp.set_option(serial_port::flow_control());//串口选项允许更改流量控制，默认值0
sp.set_option(serial_port::parity());//奇偶性，默认值为none
sp.set_option(serial_port::stop_bits()); //停止位，默认值为1
sp.set_option(serial_port::character_size(8)); //数据位，默认值为8
while(ros::ok())
{
read(sp,buffer(times_buf));
string str(×_buf[0],×_buf[4]);//将数组转化为字符串
std_msgs::String msg;
std::stringstream ss;
ss << str;
msg.data = ss.str();
ROS_INFO("%s",msg.data.c_str());//打印接受到的字符串
chatter_pub.publish(msg); //发布消息
ros::spinOnce();
loop_rate.sleep();
}
iosev.run();
return 0;
}
serial_communication_sub.cpp内容如下
#include <ros/ros.h>
#include <std_msgs/String.h>
//接收到订阅消息后，进入消息回调函数执行任务
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I hear:%s",msg->data.c_str());
}
int main(int argc, char **argv)
{
/* code for main function */
ros::init(argc, argv, "serial_communication_sub");//初始化ROS节点
ros::NodeHandle n;//创建节点句柄
/*创建一个Subscriber，订阅名为chatter的话题，注册回调函数chatterCallback*/
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
ros::spin();//循环等待回调函数
return 0;
}
打开 ~/serial/src/serial_communication/CMakeLists.txt, 最后面加上:
add_executable(serial_communication_pub src/serial_communication_pub.cpp)
target_link_libraries(serial_communication_pub ${catkin_LIBRARIES})
add_executable(serial_communication_sub src/serial_communication_sub.cpp)
target_link_libraries(serial_communication_sub ${catkin_LIBRARIES})
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保存
在/catkin_ws/src/serial_communication/下新建文件夹launch
并在launch文件夹下新建一个serial_communication_pub.launch文件
未见内容如下
<launch>
<node pkg="serial_communication" type="serial_communication_pub" name="serial_communication_pub" output="screen" />
<node pkg="serial_communication" type="serial_communication_sub" name="serial_communication_sub" output="screen" />
</launch>
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写好后记得再次编译
cd ~/serial/
catkin_make
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最后运行
autolabor@autolabor-host:~$ roslaunch serial_communication serial_communication_pub.launch
... logging to /home/autolabor/.ros/log/b1175c24-a2e2-11e9-8d53-000c299981e9/roslaunch-autolabor-host-11059.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://autolabor-host:40439/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.13
NODES
/
serial_communication_pub (serial_communication/serial_communication_pub)
serial_communication_sub (serial_communication/serial_communication_sub)
auto-starting new master
process[master]: started with pid [11069]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to b1175c24-a2e2-11e9-8d53-000c299981e9
process[rosout-1]: started with pid [11082]
started core service [/rosout]
process[serial_communication_pub-2]: started with pid [11099]
process[serial_communication_sub-3]: started with pid [11100]
[ INFO] [1562743016.360922738]: 51
[ INFO] [1562743016.365478840]: I hear: 51
[ INFO] [1562743016.460078115]: 52
[ INFO] [1562743016.460510462]: I hear: 52
[ INFO] [1562743016.560876337]: 53
[ INFO] [1562743016.561298464]: I hear: 53
[ INFO] [1562743016.664422539]: 54
[ INFO] [1562743016.664840175]: I hear: 54
[ INFO] [1562743016.761167086]: 55
[ INFO] [1562743016.761580444]: I hear: 55
[ INFO] [1562743016.860703796]: 56
[ INFO] [1562743016.861023292]: I hear: 56
[ INFO] [1562743016.973725366]: 57
[ INFO] [1562743016.974084649]: I hear: 57
[ INFO] [1562743017.060380804]: 58
[ INFO] [1562743017.060940934]: I hear: 58
[ INFO] [1562743017.160667823]: 59
[ INFO] [1562743017.161122159]: I hear: 59
[ INFO] [1562743017.260142425]: 60
[ INFO] [1562743017.260559162]: I hear: 60
[ INFO] [1562743017.360150478]: 61
[ INFO] [1562743017.362249269]: I hear: 61
[ INFO] [1562743017.460271112]: 62
[ INFO] [1562743017.460853910]: I hear: 62
运行之前要先
sudo minicom
否则打印出的数据有问题