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ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总

caoxingyu 2022-03-20 阅读 23


如果需要ESP8266和ROS通信先阅读如下博客:

  • ESP8266和ROS调试一些问题汇总

这里测试环境melodic和​noetic​都可行。

源代码如下:

#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#endif
#include <ESP8266WiFi.h>
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Float64.h>
#include <Servo.h>
#include <rosserial_arduino/Adc.h>

//
// WiFi Definitions //
//
const char* ssid = "HUAWEI_WiFi";
const char* password = "cslgcslg";

IPAddress server(192, 168, 3, 153); // ip of your ROS server
IPAddress ip_address;
int status = WL_IDLE_STATUS;

WiFiClient client;

class WiFiHardware {

public:
WiFiHardware() {};

void init() {
// do your initialization here. this probably includes TCP server/client setup
client.connect(server, 11411);
}

// read a byte from the serial port. -1 = failure
int read() {
// implement this method so that it reads a byte from the TCP connection and returns it
// you may return -1 is there is an error; for example if the TCP connection is not open
return client.read(); //will return -1 when it will works
}

// write data to the connection to ROS
void write(uint8_t* data, int length) {
// implement this so that it takes the arguments and writes or prints them to the TCP connection
for(int i=0; i<length; i++)
client.write(data[i]);
}

// returns milliseconds since start of program
unsigned long time() {
return millis(); // easy; did this one for you
}
};

Servo s;
int i;

void chatterCallback(const std_msgs::String& msg) {
i = atoi(msg.data);
s.write(i);
}


std_msgs::String str_msg;
rosserial_arduino::Adc adc_msg;
ros::Publisher chatter("chatter", &str_msg);
ros::Publisher p("adc", &adc_msg);
ros::Subscriber<std_msgs::String> sub("message", &chatterCallback);
ros::NodeHandle_<WiFiHardware> nh;
char hello[20] = "ESP8266 wifi alive!";


void setupWiFi()
{
WiFi.begin(ssid, password);
Serial.print("\nConnecting to "); Serial.println(ssid);
uint8_t i = 0;
while (WiFi.status() != WL_CONNECTED && i++ < 20) delay(500);
if(i == 21){
Serial.print("Could not connect to"); Serial.println(ssid);
while(1) delay(500);
}
Serial.print("Ready! Use ");
Serial.print(WiFi.localIP());
Serial.println(" to access client");
}

int averageAnalog(int pin){
int v=0;
for(int i=0; i<2; i++) v+= analogRead(pin);
return v/2;
}

void setup() {
Serial.begin(115200);
setupWiFi();
delay(2000);
s.attach(13); // PWM pin
nh.initNode();
nh.advertise(chatter);
nh.subscribe(sub);
nh.advertise(p);
}

void loop() {
str_msg.data = hello;
chatter.publish( &str_msg );
adc_msg.adc0 = averageAnalog( 0 );
p.publish( &adc_msg );
nh.spinOnce();
delay( 10 );
}

简单解释一下,发布节点chatter,adc,订阅节点message。

  1. message提取数值作为PWM波送到13脚控制LED亮度(占空比);
  2. adc采集模拟量绘制曲线;
  3. chatter只用作发布消息,告知主机连接成功。

使用如下命令启动wemos D1和ROS:

  • roscore
  • rosrun rosserial_python serial_node.py tcp
  • rostopic pub /message std_msgs/String "data: '10'"
  • rostopic echo /adc
  • rostopic echo /chatter

过程如下:

roscore

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_物联网

rosrun rosserial_python serial_node.py tcp

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_物联网_02

主题列表:

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_esp8266_03

rostopic pub /message std_msgs/String "data: '10'"

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_物联网_04

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_#include_05

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_esp8266_06

使用rqt_graph查看所有节点状态:

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_i++_07

使用rosbag记录ADC数据并使用plot查看曲线:

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_esp8266_08

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_esp8266_09

关闭所有节点,只留下roscore,使用rosbag play查看记录数据:

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_物联网_10

ESP8266和ROS收发消息读取模拟量控制LED亮度ESP8266和ROS调试一些问题汇总_ros_11

 所有Arduino,stm32等单片机都可以借助ROS实现物联网硬件功能。

-Fin-



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