用键盘控制ESP32亮灯

编辑上位机

1.建立package

source /opt/ros/humble/setup.bash
ros2 pkg create --build-type ament_python my_ros_py_package

2.有一个通过键盘按键值转换为ASCII值的节点发布topic消息

命名为 keyboard_asc_publisher.py

import rclpy
from rclpy.node import Node
from std_msgs.msg import Int32
from pynput import keyboard

class KeyboardPublisher(Node):
    def __init__(self):
        super().__init__('keyboard_publisher')
        self.publisher_ = self.create_publisher(Int32, 'topic_name', 10)
        self.listener = keyboard.Listener(on_press=self.on_press)
        self.listener.start()

    def on_press(self, key):
        if hasattr(key, 'char') and key.char:
            key_char = key.char
            ascii_value = ord(key_char)
            msg = Int32()
            msg.data = ascii_value
            self.publisher_.publish(msg)
            self.get_logger().info(f'Publishing: {
     
      
      msg.data}')

def main(args=None):
    rclpy.init(args=args)
    node = KeyboardPublisher()

    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    finally:
        node.listener.stop()
        node.destroy_node