ROS机器人操作系统——如何将ROS与STM32连接（十六）_ros移植stm32

文章目录

• ROS机器人操作系统
• 前言
• 一、两种控制器的功能
• 二、硬件连接
• 总结

---

前言

前面学习了ROS的基本操作，仅仅只使用这个操作系统并没有什么用处，还需要讲他与硬件相结合从而控制机器人的运动。`

一、两种控制器的功能

ROS主控采用的Jetson nano B01 STM32主控用的是F407，通过Jetson 驱动雷达采集信息，然后串口像STM32发送相关的运动指令，串口接收到后执行相应的动作。

二、硬件连接

硬件连接很简单用的是平衡小车之家的ROS STM32控制板，其内置电平转换芯片，只需用一根USB数据线连接起来即可。


构造函数和析构函数是类的另一种操作，首先获取STM32数据也就是获取陀螺仪数据，然后计算出四元素，将相关信息发送给STM32

turn_on_robot::~turn\_on\_robot()
{
  //Sends the stop motion command to the lower machine before the turn\_on\_robot object ends
  //瀵硅薄turn\_on\_robot缁撴潫鍓嶅悜涓嬩綅鏈哄彂閫佸仠姝㈣繍鍔ㄥ懡浠?
  Send_Data.tx[0]=FRAME_HEADER;
  Send_Data.tx[1] = 0;  
  Send_Data.tx[2] = 0; 

  //The target velocity of the X-axis of the robot //鏈哄櫒浜篨杞寸殑鐩爣绾块€熷害 
  Send_Data.tx[4] = 0;     
  Send_Data.tx[3] = 0;  

  //The target velocity of the Y-axis of the robot //鏈哄櫒浜篩杞寸殑鐩爣绾块€熷害 
  Send_Data.tx[6] = 0;
  Send_Data.tx[5] = 0;  

  //The target velocity of the Z-axis of the robot //鏈哄櫒浜篫杞寸殑鐩爣瑙掗€熷害 
  Send_Data.tx[8] = 0;  
  Send_Data.tx[7] = 0;    
  Send_Data.tx[9]=Check\_Sum(9,SEND_DATA_CHECK); //Check the bits for the Check\_Sum function //鏍￠獙浣嶏紝瑙勫垯鍙傝Check\_Sum鍑芥暟
  Send_Data.tx[10]=FRAME_TAIL; 
  try
  {
    Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Send data to the serial port //鍚戜覆鍙ｅ彂鏁版嵁 
  }
  catch (serial::IOException& e)   
  {
    ROS\_ERROR\_STREAM("Unable to send data through serial port"); //If sending data fails, an error message is printed //濡傛灉鍙戦€佹暟鎹け璐?鎵撳嵃閿欒淇℃伅
  }
  Stm32_Serial.close(); //Close the serial port //鍏抽棴涓插彛 
  ROS\_INFO\_STREAM("Shutting down"); //Prompt message //鎻愮ず淇℃伅
}

uart.c

#include "usartx.h"
SEND_DATA Send_Data;
RECEIVE_DATA Receive_Data;
extern int Time_count;

/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
Function: Usartx3, Usartx1 and CAN send data task 
Input : none
Output : none
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void data\_task(void \*pvParameters)
{
	 u32 lastWakeTime = getSysTickCnt();
	
   while(1)
    {	
			//The task is run at 20hz
			//´ËÈÎÎñÒÔ20HzµÄƵÂÊÔËÐÐ
			vTaskDelayUntil(&lastWakeTime, F2T(RATE_20_HZ));
			//Assign the data to be sent
			//¶ÔÒª½øÐз¢Ë͵ÄÊý¾Ý½øÐи³Öµ
			data\_transition(); 
			USART1\_SEND();     //Serial port 1 sends data //´®¿Ú1·¢ËÍÊý¾Ý
			USART3\_SEND();     //Serial port 3 (ROS) sends data //´®¿Ú3(ROS)·¢ËÍÊý¾Ý
			USART5\_SEND();     //Serial port 5 sends data //´®¿Ú5·¢ËÍÊý¾Ý
			CAN\_SEND();        //CAN send data //CAN·¢ËÍÊý¾Ý 
			
		}
}
/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
Function: The data sent by the serial port is assigned
Input : none
Output : none
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void data\_transition(void)
{
	Send_Data.Sensor_Str.Frame_Header = FRAME_HEADER; //Frame\_header //Ö¡Í·
	Send_Data.Sensor_Str.Frame_Tail = FRAME_TAIL;     //Frame\_tail //֡β
	
	//According to different vehicle types, different kinematics algorithms were selected to carry out the forward kinematics solution, 
	//and the three-axis velocity was obtained from each wheel velocity
	//¸ù¾Ý²»Í¬³µÐÍÑ¡Ôñ²»Í¬Ô˶¯Ñ§Ëã·¨½øÐÐÔ˶¯Ñ§Õý½â£¬´Ó¸÷³µÂÖËÙ¶ÈÇó³öÈýÖáËÙ¶È
	switch(Car_Mode)
	{	
		case Mec_Car:      
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)\*1000;
	    Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder-MOTOR_D.Encoder)/4)\*1000; 
	    Send_Data.Sensor_Str.Z_speed = ((-MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4/(Axle_spacing+Wheel_spacing))\*1000;         
		  break; 
		
    case Omni_Car:      
			Send_Data.Sensor_Str.X_speed = ((MOTOR_C.Encoder-MOTOR_B.Encoder)/2/X_PARAMETER)\*1000; 
	    Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder\*2-MOTOR_B.Encoder-MOTOR_C.Encoder)/3)\*1000; 
	    Send_Data.Sensor_Str.Z_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder)/3/Omni_turn_radiaus)\*1000;      
		  break; 
    
		case Akm_Car:  
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)\*1000; 
			Send_Data.Sensor_Str.Y_speed = 0;
			Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)\*1000;
		  break; 
		
		case Diff_Car: 
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)\*1000; 
			Send_Data.Sensor_Str.Y_speed = 0;
			Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)\*1000;
			break; 
		
		case FourWheel_Car:
      Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)\*1000; 
	    Send_Data.Sensor_Str.Y_speed = 0;
	    Send_Data.Sensor_Str.Z_speed = ((-MOTOR_B.Encoder-MOTOR_A.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/2/(Axle_spacing+Wheel_spacing))\*1000;
		 break; 
		
		case Tank_Car:   
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)\*1000; 
			Send_Data.Sensor_Str.Y_speed = 0;
			Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/(Wheel_spacing)\*10