esp32与ros2的欢乐启程
2023-03-31 10:32:19 时间
超级简单,先看效果:
#include <ros2arduino.h>
#include <WiFi.h>
#include <WiFiUdp.h>
#define SSID "Relay_iPhone"
#define SSID_PW "66666666"
#define AGENT_IP "172.20.10.2"
#define AGENT_PORT 2021 //AGENT port number
#define PUBLISH_FREQUENCY 1 //hz
void publishString(std_msgs::String* msg, void* arg)
{
(void)(arg);
static int cnt = 0;
sprintf(msg->data, "欢乐的esp32和ros2 %d", cnt++);
}
class StringPub : public ros2::Node
{
public:
StringPub()
: Node("esp32_pub_node")
{
ros2::Publisher<std_msgs::String>* publisher_ = this->createPublisher<std_msgs::String>("esp32_chatter");
this->createWallFreq(PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishString, nullptr, publisher_);
}
};
WiFiUDP udp;
void setup()
{
WiFi.begin(SSID, SSID_PW);
while(WiFi.status() != WL_CONNECTED);
ros2::init(&udp, AGENT_IP, AGENT_PORT);
}
void loop()
{
static StringPub StringNode;
ros2::spin(&StringNode);
}
稳定程度感觉上一般。
更有趣的各种功能会逐步介绍的。
比如esp32 wemos版
具体引脚:
static const uint8_t TX = 1;
static const uint8_t RX = 3;
static const uint8_t SDA = 21;
static const uint8_t SCL = 22;
static const uint8_t SS = 5;
static const uint8_t MOSI = 23;
static const uint8_t MISO = 19;
static const uint8_t SCK = 18;
static const uint8_t A0 = 36;
static const uint8_t A3 = 39;
static const uint8_t A4 = 32;
static const uint8_t A5 = 33;
static const uint8_t A6 = 34;
static const uint8_t A7 = 35;
static const uint8_t A10 = 4;
static const uint8_t A11 = 0;
static const uint8_t A12 = 2;
static const uint8_t A13 = 15;
static const uint8_t A14 = 13;
static const uint8_t A15 = 12;
static const uint8_t A16 = 14;
static const uint8_t A17 = 27;
static const uint8_t A18 = 25;
static const uint8_t A19 = 26;
static const uint8_t T0 = 4;
static const uint8_t T1 = 0;
static const uint8_t T2 = 2;
static const uint8_t T3 = 15;
static const uint8_t T4 = 13;
static const uint8_t T5 = 12;
static const uint8_t T6 = 14;
static const uint8_t T7 = 27;
static const uint8_t T8 = 33;
static const uint8_t T9 = 32;
static const uint8_t DAC1 = 25;
static const uint8_t DAC2 = 26;
LED_BUILTIN等
static const uint8_t LED_BUILTIN = 2;
#define BUILTIN_LED LED_BUILTIN // backward compatibility
static const uint8_t _VBAT = 35; // battery voltage
#define PIN_WIRE_SDA SDA // backward compatibility
#define PIN_WIRE_SCL SCL // backward compatibility
static const uint8_t D0 = 26;
static const uint8_t D1 = 22;
static const uint8_t D2 = 21;
static const uint8_t D3 = 17;
static const uint8_t D4 = 16;
static const uint8_t D5 = 18;
static const uint8_t D6 = 19;
static const uint8_t D7 = 23;
static const uint8_t D8 = 5;
static const uint8_t RXD = 3;
static const uint8_t TXD = 1;
与图示对应。
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