![]()
![]()
ROS Serial 通信
怎样去安装seria呢？
ROS的serial是如何进行
通信的？
回帖（1）
2021-12-6 09:23:53
前言
ROS与STM32的串口通信
之前写过一篇用boost的串口通信, 本篇写下ros的serial的通信方式.
serial安装
sudo apt-get install ros--serial, 由于是Ubuntu 18, 那么就是:
sudo apt install ros-melodic-serial
STM32工程
串口的使用参考 STM32CubeMX_UART_printf_接收中断_DMA空闲中断_LPUART 一文, 主要代码如下:
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- /* USER CODE END WHILE */
- /* USER CODE BEGIN 3 */
- static uint8_t count = 0;
- ++count;
- printf("Hello ROS |%3drn", count);
- HAL_Delay(10);
- }
- /* USER CODE END 3 */
以100Hz的频率打印字符串, 波特率115200-8-N-1.
ROS程序
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_create_pkg serial_port roscpp std_msgs
- cd serial_port/src
- touch serial_port.cpp
- gedit serial_port.cpp
在打开的serial_port.cpp放入以下代码:
- #include
- #include
- #include
- int main(int argc, char** argv)
- {
- ros::init(argc, argv, "serial_port");
- ros::NodeHandle n;
- serial::Serial sp("/dev/ttyACM0",115200,serial::Timeout::simpleTimeout(1000));
- if(sp.isOpen()) {
- ROS_INFO_STREAM("/dev/ttyACM0 is opened.");
- } else {
- return -1;
- }
- ros::Rate loop_rate(100);
- while (ros::ok())
- {
- if(sp.available()) {
- std_msgs::String result;
- result.data = sp.read(sp.available());
- ROS_INFO_STREAM(result.data);
- }
- ros::spinOnce();
- loop_rate.sleep();
- }
- sp.close();
- return 0;
- }
打开~/catkin_make/src/serial_port/CMakeLists.txt, 填入:
- add_executable(serial_port src/serial_port.cpp)
- add_dependencies(serial_port ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
- target_link_libraries(serial_port
- ${catkin_LIBRARIES}
- )
编译运行:
- roscore
- cd ~/catkin_ws
- catkin_make
- source devel/setup.bash
- sudo chmod 666 /dev/ttyACM0 #加权限才能正常打开
- rosrun serial_port serial_port
可以看到打印, 前面是缓存的, 一直到126才算正常:
前言
ROS与STM32的串口通信
之前写过一篇用boost的串口通信, 本篇写下ros的serial的通信方式.
serial安装
sudo apt-get install ros--serial, 由于是Ubuntu 18, 那么就是:
sudo apt install ros-melodic-serial
STM32工程
串口的使用参考 STM32CubeMX_UART_printf_接收中断_DMA空闲中断_LPUART 一文, 主要代码如下:
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- /* USER CODE END WHILE */
- /* USER CODE BEGIN 3 */
- static uint8_t count = 0;
- ++count;
- printf("Hello ROS |%3drn", count);
- HAL_Delay(10);
- }
- /* USER CODE END 3 */
以100Hz的频率打印字符串, 波特率115200-8-N-1.
ROS程序
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_create_pkg serial_port roscpp std_msgs
- cd serial_port/src
- touch serial_port.cpp
- gedit serial_port.cpp
在打开的serial_port.cpp放入以下代码:
- #include
- #include
- #include
- int main(int argc, char** argv)
- {
- ros::init(argc, argv, "serial_port");
- ros::NodeHandle n;
- serial::Serial sp("/dev/ttyACM0",115200,serial::Timeout::simpleTimeout(1000));
- if(sp.isOpen()) {
- ROS_INFO_STREAM("/dev/ttyACM0 is opened.");
- } else {
- return -1;
- }
- ros::Rate loop_rate(100);
- while (ros::ok())
- {
- if(sp.available()) {
- std_msgs::String result;
- result.data = sp.read(sp.available());
- ROS_INFO_STREAM(result.data);
- }
- ros::spinOnce();
- loop_rate.sleep();
- }
- sp.close();
- return 0;
- }
打开~/catkin_make/src/serial_port/CMakeLists.txt, 填入:
- add_executable(serial_port src/serial_port.cpp)
- add_dependencies(serial_port ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
- target_link_libraries(serial_port
- ${catkin_LIBRARIES}
- )
编译运行:
- roscore
- cd ~/catkin_ws
- catkin_make
- source devel/setup.bash
- sudo chmod 666 /dev/ttyACM0 #加权限才能正常打开
- rosrun serial_port serial_port
可以看到打印, 前面是缓存的, 一直到126才算正常:
举报
更多回帖
