micro-ROS之esp32与ros2资料(freertos)
2023-03-31 10:32:28 时间
重中之重:micro.ros.org/docs/tutorials/core/overview/
所有案例都是流畅稳定运行的。
比arduino+esp32+ros2稳定性好很多哦。
eps32复位重联,会有节点重名现象。
不过,rqt图正常
#include <string.h>
#include <stdio.h>
#include <unistd.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "esp_system.h"
#include <uros_network_interfaces.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <std_msgs/msg/int32.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <rmw_microros/rmw_microros.h>
#include "uxr/client/config.h"
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.
",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.
",__LINE__,(int)temp_rc);}}
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
RCLC_UNUSED(last_call_time);
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data++;
}
}
void micro_ros_task(void * arg)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
// Static Agent IP and port can be used instead of autodisvery.
RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));
//RCCHECK(rmw_uros_discover_agent(rmw_options));
// create init_options
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
// create node
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "esp32_int32_publisher", "", &support));
// create publisher
RCCHECK(rclc_publisher_init_default(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"freertos_int32_publisher"));
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
// create executor
rclc_executor_t executor;
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
RCCHECK(rclc_executor_add_timer(&executor, &timer));
msg.data = 0;
while(1){
rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
usleep(10000);
}
// free resources
RCCHECK(rcl_publisher_fini(&publisher, &node));
RCCHECK(rcl_node_fini(&node));
vTaskDelete(NULL);
}
void app_main(void)
{
#ifdef UCLIENT_PROFILE_UDP
// Start the networking if required
ESP_ERROR_CHECK(uros_network_interface_initialize());
#endif // UCLIENT_PROFILE_UDP
//pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
xTaskCreate(micro_ros_task,
"uros_task",
CONFIG_MICRO_ROS_APP_STACK,
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO,
NULL);
}
数值每次是加1:
msg.data++;
修改为+10;
节点名称:
RCCHECK(rclc_node_init_default(&node, "esp32_int32_publisher", "", &support));
修改一下:
RCCHECK(rclc_node_init_default(&node, "love_esp32_pub", "", &support));
主题名称:
RCCHECK(rclc_publisher_init_default(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"freertos_int32_publisher"));
修改一下:
love_esp32_pub
(随意修改看看效果?)
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