品牌网站建设策,企业网站的基本内容有哪些,上海vi设计公司有哪些,免费建学校网站文章目录 硬件接线 软件STM32CubeMX配置 rosserial移植上位机订阅-下位机发布上位机订阅下位机发布通信 上位机发布-下位机订阅上位机发布下位机订阅通信 硬件
STM32F103c8t6OLED(I2C)USB2TTLStlink
接线
OLED(GPIO模拟I2C)
硬件引脚OLEDSCLPA4OLEDSDAPA5
USART1
硬件引脚… 文章目录 硬件接线 软件STM32CubeMX配置 rosserial移植上位机订阅-下位机发布上位机订阅下位机发布通信 上位机发布-下位机订阅上位机发布下位机订阅通信 硬件
STM32F103c8t6OLED(I2C)USB2TTLStlink
接线
OLED(GPIO模拟I2C)
硬件引脚OLEDSCLPA4OLEDSDAPA5
USART1
硬件引脚作用RXPA9USART1_TXTXPA10USART1_RX
LED
硬件引脚LED0PC13LED1PC15
软件
STM32CubeMXClion
STM32CubeMX配置
SYS-Debug-Serial WireRCC-HSE-Crystal/Ceramic ResonatorPC15-OutPut ,Label为LED0PC13-OutPut ,Label为LED1TIM1-Clock Source-Internal Clock时钟树时钟设置为72MUSART1-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.gitor 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 Stringif __name__ __main__:rospy.init_node(ros_pc_pub)pub rospy.Publisher(pc_to_stm32,String,queue_size10)msg String()msg_front ros_2_stm32-count 0rate 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 1c订阅 demo01_sub_c.cpp
#include ros/ros.h
#include std_msgs/String.h
#include sstreamvoid 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.hros::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)
{cnt1;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.pyc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 Stringif __name__ __main__:rospy.init_node(ros_pc_pub)pub rospy.Publisher(pc_to_stm32,String,queue_size10)msg String()msg_front ros_2_stm32-count 0rate 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 1c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.advertisestd_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::Subscriberstd_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.pyc发布
rosrun hello_vscode demo01_pub_c下位机显示 查看rqt_graph
