1.安装ROS_Serial
1.1 安装环境参数
sudo apt-get install ros-indigo-rosserial-arduino
sudo apt-get install ros-indigo-rosserial
1.2 下载程序节点数据
cd ~/joey_ws/src
git clone https://github.com/ros-drivers/rosserial.git
cd ~/joey_ws
catkin_make
catkin_make install
source ~/joey_ws/install/setup.bash
2.Ubuntu安装Aruino程序
2.1 下载Arduino程序
2.2 解压安装包
安装包解压至/Desktop目录下
mv arduino***.tar.xz ~/Desktop/
xz -d arduino***.tar.xz
tar -xf arduino***.tar
3.安装ros-Arduino库文件
3.1 运行一次arduino
cd ~/arduino-1.6.7/
./arduino
3.2 安装库文件
cd ~/Arduino/libraries/
rosrun rosserial_arduino make_libraries.py ./ 尤其记得后面的点不要漏了
4.运行helloworld程序
4.1 运行arduino程序
cd ~/arduino-1.6.7/
./arduino
4.2 arduino程序烧录
Tools 选择 Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口 /dev/ACM0
分配端口权限 sudo chmod 777 /dev/ttyACM0
选择示例程序<helloworld> 烧录
4.3 ROS端测试
- 开启ROS服务器：
roscore
- 定位当前工作区：
source ~/joey_ws/install/setup.bash
- 运行arduino串口程序节点：
rosrun rosserial_python serial_node.py /dev/ttyACM0
- 监控当前主题信号：
rostopic echo chatter
5.运行Blink程序
5.1 运行arduino程序
cd ~/arduino-1.6.7/
./arduino
5.2 arduino程序烧录
Tools 选择 Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口 /dev/ACM0
分配端口权限 sudo chmod 777 /dev/ttyACM0
选择示例程序<blink> 烧录
5.3 ROS端测试
- 开启ROS服务器：
roscore
- 定位当前工作区：
source ~/joey_ws/install/setup.bash
- 运行arduino串口程序节点：
rosrun rosserial_python serial_node.py /dev/ttyACM0
- 查询话题类型：
rostopic info /toggle_led
结果显示 type：std_msgs/Empty
- 给toggle_led话题发送消息：
rostopic pub -r 1 /toggle_led std_msgs/Empty
- 其中rostopic的表达式：
rostopic pub -r rate-in-hz topic-name message-type message-content
其中-r rate-in-hz 可以用 -1代替表示发送一次
6.运行时间同步与TF变换程序
6.1 运行arduino程序
cd ~/arduino-1.6.7/
./arduino
6.2 arduino程序烧录
Tools 选择
Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口
/dev/ACM0
分配端口权限
sudo chmod 777 /dev/ttyACM0
选择示例程序<Time-TF> 烧录
6.3 ROS端测试
- 开启ROS服务器：
roscore
- 定位当前工作区：
source ~/joey_ws/install/setup.bash
- 运行arduino串口程序节点：
rosrun rosserial_python serial_node.py /dev/ttyACM0
7.运行按钮button程序
7.1 运行arduino程序
cd ~/arduino-1.6.7/
./arduino
7.2 arduino程序烧录
Tools 选择 Board arduino/mega2560 Processor "mega 2560"
选择当前arduino端口 /dev/ACM0
分配端口权限 sudo chmod 777 /dev/ttyACM0
选择示例程序<Time-TF> 烧录
7.3 ROS端测试
- 开启ROS服务器：
roscore
- 定位当前工作区：
source ~/joey_ws/install/setup.bash
- 运行arduino串口程序节点：
rosrun rosserial_python serial_node.py /dev/ttyACM0
- 查看主题信息：
rostopic echo pushed
8. 使用ROS-CMake烧录helloworld代码
8.1 新建helloworld工程程序
cd ~/joey_ws/src
catkin_create_pkg helloworld rosserial_arduino rosserial_client std_msgs
cd ~/joey_ws/src/helloworld/
mkdir firmware
vim fireware/chatter.cpp
#include <ros.h>
#include <std_msgs/String.h>
#include <Arduino.h>
ros::NodeHandle nh;
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);
char hello[13] = "hello world!";
void setup()
{
nh.initNode();
nh.advertise(chatter);
}
void loop()
{
str_msg.data = hello;
chatter.publish( &str_msg );
nh.spinOnce();
delay(1000);
}
8.2 更新总CMakelists
vim ~/joey_ws/src/helloworld/CMakelists.txt
cmake_minimum_required(VERSION 2.8.3)
project(helloworld)
find_package(catkin REQUIRED COMPONENTS
rosserial_arduino
rosserial_client
)
catkin_package()
rosserial_generate_ros_lib(
PACKAGE rosserial_arduino
SCRIPT make_libraries.py
)
rosserial_configure_client(
DIRECTORY firmware
TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN}
)
rosserial_add_client_target(firmware hello ALL)
rosserial_add_client_target(firmware hello-upload)
vim ~/joey_ws/src/helloworld/firmware/CMakelists.txt
cmake_minimum_required(VERSION 2.8.3)
include_directories(${ROS_LIB_DIR})
# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)
generate_arduino_firmware(hello
SRCS chatter.cpp ${ROS_LIB_DIR}/time.cpp
BOARD mega2560
PORT /dev/ttyACM0
)
8.3 烧录程序至arduino mega2560
- 编译：
cd ~/joey_ws/
catkin_make helloworld_firmware_hello
- 下载：
catkin_make helloworld_firmware_hello-upload
8.4 验证arduino节点通信
- 开启ROS服务器：
roscore
- 定位当前工作区：
source ~/joey_ws/install/setup.bash
- 运行arduino串口程序节点：
rosrun rosserial_python serial_node.py /dev/ttyACM0
- 监控当前主题信号：
rostopic echo chatter
9 使用ROS-make烧录ADC-arduino检测程序
9.1 新建adc_arduino工程程序
cd ~/joey_ws/src
catkin_create_pkg adc_arduino rosserial_arduino rosserial_client rosserial_server
cd ~/joey_ws/src/adc_arduino/
mkdir firmware && cd firmware
vim adc_arduino.cpp
#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#endif
#include <ros.h>
#include <rosserial_arduino/Adc.h>
#include <Arduino.h>
ros::NodeHandle nh;
rosserial_arduino::Adc adc_msg;
ros::Publisher p("adc", &adc_msg);
void setup()
{
pinMode(13, OUTPUT);
nh.initNode();
nh.advertise(p);
}
//We average the analog reading to elminate some of the noise
int averageAnalog(int pin){
int v=0;
for(int i=0; i<4; i++) v+= analogRead(pin);
return v/4;
}
long adc_timer;
void loop()
{
adc_msg.adc0 = averageAnalog(0);
adc_msg.adc1 = averageAnalog(1);
adc_msg.adc2 = averageAnalog(2);
adc_msg.adc3 = averageAnalog(3);
adc_msg.adc4 = averageAnalog(4);
p.publish(&adc_msg);
delay(100);
nh.spinOnce();
}
8.2 更新总CMakelists
vim ~/joey_ws/src/adc_arduino/CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(adc_arduino)
find_package(catkin REQUIRED COMPONENTS
rosserial_arduino
rosserial_client
rosserial_server
)
catkin_package()
rosserial_generate_ros_lib(
PACKAGE rosserial_arduino
SCRIPT make_libraries.py
)
rosserial_configure_client(
DIRECTORY firmware
TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN}
)
rosserial_add_client_target(firmware adc_arduino ALL)
rosserial_add_client_target(firmware adc_arduino-upload)
vim ~/joey_ws/src/adc_arduino/firmware/CMakelists.txt
cmake_minimum_required(VERSION 2.8.3)
include_directories(${ROS_LIB_DIR})
# Remove this if using an Arduino without native USB (eg, other than Leonardo)
add_definitions(-DUSB_CON)
generate_arduino_firmware(adc_arduino
SRCS adc_arduino.cpp ${ROS_LIB_DIR}/time.cpp
BOARD mega2560
PORT /dev/ttyACM0
)
9.3 烧录程序至arduino mega2560
- 编译：
cd ~/joey_ws/
catkin_make adc_arduino_firmware_adc_arduino
- 下载：
catkin_make adc_arduino_firmware_adc_arduino-upload
9.4 验证arduino节点通信
- 开启ROS服务器：
roscore
- 定位当前工作区：
source ~/joey_ws/install/setup.bash
- 运行arduino串口程序节点：
rosrun rosserial_python serial_node.py /dev/ttyACM0
- 监控当前主题信号：
rostopic echo adc_arduino
