ROS为上位机与STM32为下位机串口通讯（一）

2019-07-10 15:27:27 1715

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STM32通过串口向ROS上位机发送信息

主要实现了STM32 通过串口向ROS上位机发送数据，发布者将接收到的数据发布出去并打印出来，订阅者订阅发布者发布的消息并打印出来，最后通过roslaunch启动。

STM32端

u16 times=0;int arr[10] = {0,1,2,3,4,5,6,7,8,9};int main(void){   	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);	delay_init(168);			uart_init(115200);	    //波特率115200	while(1)	{			times++;			printf("%3d\r\n",times);			if(times>=100) times=0; 			delay_ms(100);   	}}

ROS端

创建工作空间

mkdir -p ~/serial/srccd ~/serial/srccatkin_init_workspace

编译

cd ~/serial/catkin_make

设置环境变量

echo "source ~/serial/devel/setup.bash" >> ~/.bashrcsource ~/.bashrc

创建功能包

catkin_create_pkg serial_communication roscpp std_msgs

在/catkin_ws/src/serial_communication/src/下新建serial_communication_pub.cpp和serial_communication_sub.cpp

serial_communication_pub.cpp内容如下

#include 
   
    #include 
    
     // 包含ROS的头文件#include 
     
      //包含boost库函数#include 
      
       #include 
       
        //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 times_buf[5];//接收区int main(int argc,char** argv){    ros::init(argc,argv,"serial_communication_pub");//初始化节点    ros::NodeHandle n;//创建节点句柄    /*创建一个Publisher,发布名为chatter的topic,消息类型为std_msgs::String*/    ros::Publisher chatter_pub = n.advertise
        
         ("chatter",1000); ros::Rate loop_rate(10);//设置循环频率10Hz io_service iosev; serial_port sp(iosev, "/dev/ttyUSB0");//定义传输的串口 sp.set_option(serial_port::baud_rate(115200));//波特率115200 sp.set_option(serial_port::flow_control());//串口选项允许更改流量控制，默认值0 sp.set_option(serial_port::parity());//奇偶性，默认值为none sp.set_option(serial_port::stop_bits()); //停止位，默认值为1 sp.set_option(serial_port::character_size(8)); //数据位，默认值为8 while(ros::ok()) { read(sp,buffer(times_buf)); string str(×_buf[0],×_buf[4]);//将数组转化为字符串 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;}

serial_communication_sub.cpp内容如下

#include 
   
    #include 
    
     //接收到订阅消息后，进入消息回调函数执行任务void chatterCallback(const std_msgs::String::ConstPtr& msg){  ROS_INFO("I hear:%s",msg->data.c_str());}int main(int argc, char **argv){    /* code for main function */    ros::init(argc, argv, "serial_communication_sub");//初始化ROS节点        ros::NodeHandle n;//创建节点句柄    /*创建一个Subscriber，订阅名为chatter的话题，注册回调函数chatterCallback*/    ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);        ros::spin();//循环等待回调函数    return 0;}

打开 ~/serial/src/serial_communication/CMakeLists.txt, 最后面加上:

add_executable(serial_communication_pub src/serial_communication_pub.cpp)target_link_libraries(serial_communication_pub ${catkin_LIBRARIES})add_executable(serial_communication_sub src/serial_communication_sub.cpp)target_link_libraries(serial_communication_sub ${catkin_LIBRARIES})

保存

在/catkin_ws/src/serial_communication/下新建文件夹launch

并在launch文件夹下新建一个serial_communication_pub.launch文件

未见内容如下

写好后记得再次编译

cd ~/serial/catkin_make

最后运行

autolabor@autolabor-host:~$ roslaunch serial_communication serial_communication_pub.launch ... logging to /home/autolabor/.ros/log/b1175c24-a2e2-11e9-8d53-000c299981e9/roslaunch-autolabor-host-11059.logChecking log directory for disk usage. This may take awhile.Press Ctrl-C to interruptDone checking log file disk usage. Usage is <1GB.started roslaunch server http://autolabor-host:40439/SUMMARY========PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13NODES  /    serial_communication_pub (serial_communication/serial_communication_pub)    serial_communication_sub (serial_communication/serial_communication_sub)auto-starting new masterprocess[master]: started with pid [11069]ROS_MASTER_URI=http://localhost:11311setting /run_id to b1175c24-a2e2-11e9-8d53-000c299981e9process[rosout-1]: started with pid [11082]started core service [/rosout]process[serial_communication_pub-2]: started with pid [11099]process[serial_communication_sub-3]: started with pid [11100][ INFO] [1562743016.360922738]:  51[ INFO] [1562743016.365478840]: I hear: 51[ INFO] [1562743016.460078115]:  52[ INFO] [1562743016.460510462]: I hear: 52[ INFO] [1562743016.560876337]:  53[ INFO] [1562743016.561298464]: I hear: 53[ INFO] [1562743016.664422539]:  54[ INFO] [1562743016.664840175]: I hear: 54[ INFO] [1562743016.761167086]:  55[ INFO] [1562743016.761580444]: I hear: 55[ INFO] [1562743016.860703796]:  56[ INFO] [1562743016.861023292]: I hear: 56[ INFO] [1562743016.973725366]:  57[ INFO] [1562743016.974084649]: I hear: 57[ INFO] [1562743017.060380804]:  58[ INFO] [1562743017.060940934]: I hear: 58[ INFO] [1562743017.160667823]:  59[ INFO] [1562743017.161122159]: I hear: 59[ INFO] [1562743017.260142425]:  60[ INFO] [1562743017.260559162]: I hear: 60[ INFO] [1562743017.360150478]:  61[ INFO] [1562743017.362249269]: I hear: 61[ INFO] [1562743017.460271112]:  62[ INFO] [1562743017.460853910]: I hear: 62

运行之前要先