ROS+PI+ARDUINO

向搞机的同路人致敬，特别感谢diegodiego博主共享的代码。 不才基本打通ROSArduinoBridge的任督二脉，有需要的小伙伴可以一起学习一下.

空转时的 双轮PID控制，基本比较完美了， 实时数据如下： encoder : ['0', '0']
out : ['73', '73']
encoder : ['0', '0']
out : ['76', '76']
encoder : ['0', '0']
out : ['79', '79']
encoder : ['0', '0']
out : ['82', '82']
encoder : ['0', '0']
out : ['86', '85']
encoder : ['0', '1']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['88', '85']
encoder : ['1', '3']
out : ['89', '86']
encoder : ['4', '5']
out : ['88', '87']
encoder : ['6', '7']
out : ['89', '90']
encoder : ['9', '10']
out : ['90', '89']
encoder : ['12', '12']
out : ['92', '92']
encoder : ['14', '15']
out : ['91', '91']
encoder : ['17', '17']
out : ['92', '92']
encoder : ['19', '19']
out : ['93', '93']
encoder : ['22', '22']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['94', '94']
encoder : ['25', '24']
out : ['94', '96']
encoder : ['28', '27']
out : ['95', '95']
encoder : ['30', '29']
out : ['96', '96']
encoder : ['33', '32']
out : ['98', '97']
encoder : ['35', '35']
out : ['97', '99']
encoder : ['37', '37']
out : ['98', '98']
encoder : ['40', '40']
out : ['100', '99']
encoder : ['43', '42']
out : ['99', '99']
encoder : ['46', '45']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['100', '100']
encoder : ['49', '48']
out : ['100', '101']
encoder : ['51', '51']
out : ['101', '101']
encoder : ['54', '54']
out : ['103', '102']
encoder : ['57', '57']
out : ['102', '102']
encoder : ['59', '59']
out : ['103', '103']
encoder : ['62', '62']
out : ['103', '103']
encoder : ['65', '64']
out : ['103', '104']
encoder : ['67', '67']
out : ['104', '104']
encoder : ['70', '70']
out : ['104', '104']
encoder : ['73', '73']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['105', '105']
encoder : ['76', '76']
out : ['105', '105']
encoder : ['79', '79']
out : ['107', '106']
encoder : ['83', '82']
out : ['106', '106']
encoder : ['85', '85']
out : ['106', '106']
encoder : ['89', '88']
out : ['106', '108']
encoder : ['91', '91']
out : ['107', '107']
encoder : ['94', '94']
out : ['107', '107']
encoder : ['97', '97']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['107', '107']
encoder : ['101', '100']
out : ['108', '108']
encoder : ['103', '103']
out : ['108', '108']
encoder : ['107', '107']
out : ['108', '108']
encoder : ['110', '109']
out : ['108', '109']
encoder : ['113', '113']
out : ['109', '109']
encoder : ['115', '115']
out : ['109', '109']
encoder : ['119', '119']
out : ['109', '109']
encoder : ['122', '122']
out : ['111', '110']
encoder : ['125', '125']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['110', '110']
encoder : ['128', '128']
out : ['110', '110']
encoder : ['132', '132']
out : ['110', '110']
encoder : ['134', '134']
out : ['110', '110']
encoder : ['137', '137']
out : ['111', '111']
encoder : ['141', '141']
out : ['111', '111']
encoder : ['144', '144']
out : ['111', '111']
encoder : ['147', '147']
out : ['111', '111']
encoder : ['150', '150']
out : ['111', '111']
encoder : ['153', '153']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['112', '113']
encoder : ['157', '157']
out : ['112', '112']
encoder : ['159', '159']
out : ['112', '112']
encoder : ['162', '162']
out : ['112', '112']
encoder : ['165', '165']
out : ['112', '112']
encoder : ['169', '169']
out : ['112', '112']
encoder : ['172', '172']
out : ['112', '112']
encoder : ['175', '175']
out : ['112', '112']
encoder : ['179', '179']
out : ['112', '112']
encoder : ['182', '182']
out : ['111', '112']
encoder : ['185', '185']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['112', '112']
encoder : ['188', '188']
out : ['113', '112']
encoder : ['192', '192']
out : ['114', '112']
encoder : ['195', '195']
out : ['111', '112']
encoder : ['198', '199']
out : ['111', '112']
encoder : ['201', '202']
out : ['112', '112']
encoder : ['204', '205']
out : ['112', '112']
encoder : ['207', '208']
out : ['111', '112']
encoder : ['210', '211']
out : ['112', '112']
encoder : ['214', '214']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['113', '112']
encoder : ['217', '217']
out : ['111', '112']
encoder : ['221', '221']
out : ['112', '112']
encoder : ['224', '224']
out : ['112', '112']
encoder : ['227', '227']
out : ['114', '112']
encoder : ['230', '230']
out : ['111', '112']
encoder : ['234', '234']

负载时数据也在可接受的范围内： 

out : ['88', '88']

encoder : ['0', '0']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['91', '91']
encoder : ['0', '0']
out : ['95', '95']
encoder : ['0', '0']
out : ['98', '98']
encoder : ['0', '0']
out : ['101', '101']
encoder : ['1', '0']
out : ['104', '105']
encoder : ['1', '0']
out : ['108', '109']
encoder : ['1', '0']
out : ['111', '112']
encoder : ['1', '0']
out : ['114', '113']
encoder : ['1', '1']
out : ['117', '116']
encoder : ['2', '2']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['119', '119']
encoder : ['3', '3']
out : ['121', '119']
encoder : ['5', '5']
out : ['123', '122']
encoder : ['7', '8']
out : ['123', '122']
encoder : ['9', '10']
out : ['124', '123']
encoder : ['11', '12']
out : ['125', '124']
encoder : ['14', '15']
out : ['127', '125']
encoder : ['16', '17']
out : ['126', '126']
encoder : ['19', '19']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['127', '128']
encoder : ['22', '22']
out : ['128', '127']
encoder : ['24', '24']
out : ['130', '128']
encoder : ['27', '27']
out : ['129', '129']
encoder : ['30', '30']
out : ['130', '130']
encoder : ['32', '32']
out : ['131', '131']
encoder : ['35', '35']
out : ['133', '132']
encoder : ['38', '37']
out : ['132', '134']
encoder : ['40', '40']
out : ['133', '133']
encoder : ['43', '42']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['134', '134']
encoder : ['46', '45']
out : ['136', '135']
encoder : ['48', '48']
out : ['135', '137']
encoder : ['51', '50']
out : ['136', '136']
encoder : ['54', '53']
out : ['138', '137']
encoder : ['57', '56']
out : ['137', '138']
encoder : ['59', '59']
out : ['138', '138']
encoder : ['62', '62']
out : ['138', '139']
encoder : ['65', '65']
out : ['139', '139']
encoder : ['67', '67']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['141', '140']
encoder : ['70', '70']
out : ['140', '140']
encoder : ['73', '73']
out : ['141', '141']
encoder : ['75', '76']
out : ['141', '141']
encoder : ['78', '78']
out : ['143', '141']
encoder : ['81', '81']
out : ['142', '142']
encoder : ['84', '84']
out : ['144', '142']
encoder : ['87', '87']
out : ['143', '143']
encoder : ['90', '90']
out : ['144', '143']
encoder : ['92', '93']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['144', '143']
encoder : ['95', '96']
out : ['145', '144']
encoder : ['98', '99']
out : ['145', '144']
encoder : ['101', '102']
out : ['146', '145']
encoder : ['105', '106']
out : ['146', '145']
encoder : ['107', '108']
out : ['147', '147']
encoder : ['110', '112']
out : ['147', '146']
encoder : ['113', '115']
out : ['149', '146']
encoder : ['116', '118']
out : ['148', '148']
encoder : ['119', '121']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['148', '147']
encoder : ['123', '124']
out : ['150', '147']
encoder : ['125', '127']
out : ['149', '147']
encoder : ['128', '130']
out : ['149', '147']
encoder : ['131', '133']
out : ['149', '149']
encoder : ['134', '136']
out : ['149', '148']
encoder : ['137', '139']
out : ['150', '148']
encoder : ['141', '142']
out : ['150', '148']
encoder : ['144', '146']
out : ['150', '148']
encoder : ['147', '149']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['150', '148']
encoder : ['151', '152']
out : ['150', '150']
encoder : ['154', '156']
out : ['150', '149']
encoder : ['157', '159']
out : ['150', '149']
encoder : ['160', '162']
out : ['150', '149']
encoder : ['164', '166']
out : ['150', '149']
encoder : ['167', '169']
out : ['150', '149']
encoder : ['170', '172']
out : ['150', '149']
encoder : ['174', '176']
out : ['150', '149']
encoder : ['177', '179']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['150', '149']
encoder : ['181', '182']
out : ['150', '149']
encoder : ['184', '186']
out : ['150', '149']
encoder : ['187', '189']
out : ['152', '148']
encoder : ['190', '192']
out : ['149', '148']
encoder : ['194', '196']
out : ['150', '148']
encoder : ['197', '200']
out : ['150', '148']
encoder : ['201', '203']
out : ['150', '148']
encoder : ['204', '206']
out : ['150', '148']
encoder : ['207', '210']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['150', '148']
encoder : ['210', '213']
out : ['150', '148']
encoder : ['214', '216']
out : ['150', '148']
encoder : ['217', '219']
out : ['150', '148']
encoder : ['220', '222']
out : ['150', '148']
encoder : ['224', '226']
out : ['150', '148']
encoder : ['227', '229']
out : ['150', '146']
encoder : ['230', '232']
out : ['148', '147']
encoder : ['234', '236']
out : ['149', '147']
encoder : ['237', '239']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['149', '147']
encoder : ['240', '242']
out : ['149', '147']
encoder : ['244', '246']
out : ['149', '147']
encoder : ['247', '249']
out : ['149', '147']
encoder : ['250', '253']
out : ['149', '147']
encoder : ['254', '256']
out : ['149', '147']
encoder : ['257', '259']
out : ['149', '147']
encoder : ['261', '263']
out : ['149', '147']
encoder : ['264', '267']
out : ['149', '147']
encoder : ['267', '270']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['149', '147']
encoder : ['271', '273']
out : ['149', '147']
encoder : ['275', '277']
out : ['149', '147']
encoder : ['278', '280']
out : ['149', '147']
encoder : ['281', '284']
out : ['149', '147']
encoder : ['285', '287']
out : ['149', '147']
encoder : ['288', '290']
out : ['149', '147']
encoder : ['292', '294']
out : ['149', '147']
encoder : ['295', '297']
out : ['149', '147']
encoder : ['298', '300']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['149', '147']
encoder : ['301', '303']
out : ['148', '146']
encoder : ['305', '307']
out : ['148', '146']
encoder : ['308', '310']
out : ['148', '146']
encoder : ['311', '313']
out : ['148', '146']
encoder : ['315', '316']
out : ['148', '146']
encoder : ['318', '320']
out : ['148', '146']
encoder : ['321', '323']
out : ['148', '146']
encoder : ['325', '327']
out : ['148', '146']
encoder : ['328', '330']
 self.v_des_left  = 1
 self.v_des_left  = 1
out : ['148', '146']
encoder : ['331', '333']
out : ['148', '148']
encoder : ['334', '336']
out : ['148', '147']
encoder : ['337', '339']
^Cout : ['148', '147']
encoder : ['341', '343']