STM32程序
参考上一篇 Ubuntu16之STM32开发–点灯和串口通信, 主要代码节选如下:
uint8_t count = 0;
while (1)
{
++count;
HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
printf("Hello, %3drn", count);
HAL_Delay(100);
}
每100ms串口发送给上位机 “Hello, %3drn” 的字符, 串口识别为 /dev/ttyACM0.
ROS程序
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_create_pkg serial_communication roscpp std_msgs
cd serial_communication/src
touch serial_communication.cpp
gedit serial_communication.cpp # code serial_communication.cpp
~/catkin_ws/src/serial_communication/src/serial_communication.cpp 内容:
//reference: https://www.cnblogs.com/li-yao7758258/p/5794005.html
#include
#include // 包含ROS的头文件
#include //包含boost库函数
#include
#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 buf[12]; //定义字符串长度
int main(int argc, char **argv)
{
ros::init(argc, argv, "serial_communication"); //初始化节点
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise("chatter", 1000); //定义发布消息的名称及sulv
ros::Rate loop_rate(10);
io_service iosev;
serial_port sp(iosev, "/dev/ttyACM0"); //定义传输的串口
sp.set_option(serial_port::baud_rate(115200));
sp.set_option(serial_port::flow_control());
sp.set_option(serial_port::parity());
sp.set_option(serial_port::stop_bits());
sp.set_option(serial_port::character_size(8));
while (ros::ok())
{
//write(sp, buffer(buf1, 6)); //write the speed for cmd_val
//write(sp, buffer("Hellq world", 12));
read(sp, buffer(buf));
string str(&buf[0], &buf[11]); //将数组转化为字符串
//if (buf[10] == 'n')
{
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;
}
保存后, 打开 ~/catkin_ws/src/serial_communication/CMakeLists.txt, 最后面加上:
add_executable(serial_communication src/serial_communication.cpp)
target_link_libraries(serial_communication ${catkin_LIBRARIES})
保存.
# 第一个终端
roscore
# 第二个终端
cd ~/catkin_ws
catkin_make
source devel/setup.bash
chmod 777 /dev/ttyACM0
# 如果之前 CuteCom 已经打开, 记得关了, 免得USB虚拟串口占用.
rosrun serial_communication serial_communication
然后就会看到ROS中打印出如下信息:
lz@lz-pc:~/catkin_ws$ rosrun serial_communication serial_communication
[ INFO] [1542939474.069999764]: Hello, 74
[ INFO] [1542939474.169567482]: Hello, 75
[ INFO] [1542939474.269443664]: Hello, 76
[ INFO] [1542939474.369511941]: Hello, 77
[ INFO] [1542939474.469562788]: Hello, 78
[ INFO] [1542939474.569548019]: Hello, 79
[ INFO] [1542939474.669471010]: Hello, 80
[ INFO] [1542939474.769552072]: Hello, 81
[ INFO] [1542939474.869545703]: Hello, 82
[ INFO] [1542939474.969443991]: Hello, 83
STM32程序
参考上一篇 Ubuntu16之STM32开发–点灯和串口通信, 主要代码节选如下:
uint8_t count = 0;
while (1)
{
++count;
HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
printf("Hello, %3drn", count);
HAL_Delay(100);
}
每100ms串口发送给上位机 “Hello, %3drn” 的字符, 串口识别为 /dev/ttyACM0.
ROS程序
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_create_pkg serial_communication roscpp std_msgs
cd serial_communication/src
touch serial_communication.cpp
gedit serial_communication.cpp # code serial_communication.cpp
~/catkin_ws/src/serial_communication/src/serial_communication.cpp 内容:
//reference: https://www.cnblogs.com/li-yao7758258/p/5794005.html
#include
#include // 包含ROS的头文件
#include //包含boost库函数
#include
#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 buf[12]; //定义字符串长度
int main(int argc, char **argv)
{
ros::init(argc, argv, "serial_communication"); //初始化节点
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise("chatter", 1000); //定义发布消息的名称及sulv
ros::Rate loop_rate(10);
io_service iosev;
serial_port sp(iosev, "/dev/ttyACM0"); //定义传输的串口
sp.set_option(serial_port::baud_rate(115200));
sp.set_option(serial_port::flow_control());
sp.set_option(serial_port::parity());
sp.set_option(serial_port::stop_bits());
sp.set_option(serial_port::character_size(8));
while (ros::ok())
{
//write(sp, buffer(buf1, 6)); //write the speed for cmd_val
//write(sp, buffer("Hellq world", 12));
read(sp, buffer(buf));
string str(&buf[0], &buf[11]); //将数组转化为字符串
//if (buf[10] == 'n')
{
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;
}
保存后, 打开 ~/catkin_ws/src/serial_communication/CMakeLists.txt, 最后面加上:
add_executable(serial_communication src/serial_communication.cpp)
target_link_libraries(serial_communication ${catkin_LIBRARIES})
保存.
# 第一个终端
roscore
# 第二个终端
cd ~/catkin_ws
catkin_make
source devel/setup.bash
chmod 777 /dev/ttyACM0
# 如果之前 CuteCom 已经打开, 记得关了, 免得USB虚拟串口占用.
rosrun serial_communication serial_communication
然后就会看到ROS中打印出如下信息:
lz@lz-pc:~/catkin_ws$ rosrun serial_communication serial_communication
[ INFO] [1542939474.069999764]: Hello, 74
[ INFO] [1542939474.169567482]: Hello, 75
[ INFO] [1542939474.269443664]: Hello, 76
[ INFO] [1542939474.369511941]: Hello, 77
[ INFO] [1542939474.469562788]: Hello, 78
[ INFO] [1542939474.569548019]: Hello, 79
[ INFO] [1542939474.669471010]: Hello, 80
[ INFO] [1542939474.769552072]: Hello, 81
[ INFO] [1542939474.869545703]: Hello, 82
[ INFO] [1542939474.969443991]: Hello, 83
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