xyg@xyg
-T6AD
:~$ cd ~/ros2_ws
colcon build
--packages
-select pca9685_hardware
source install/setup.bash
Starting >>> pca9685_hardware
--- stderr
: pca9685_hardware
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:9
:1
: error
: ‘CallbackReturn’ does
not name a type
9 | CallbackReturn Pca9685SystemHardware
::on_init(const hardware_interface
::HardwareInfo& info)
| ^~~~~~~~~~~~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
: In member function ‘virtual std
::vector<hardware_interface
::StateInterface> pca9685_hardware
::Pca9685SystemHardware
::export_state_interfaces()’
:
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:44
:37
: error
: ‘HW_IF_POSITION’ is
not a member of ‘hardware_interface’
44 | hardware_interface
::HW_IF_POSITION,
| ^~~~~~~~~~~~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
: In member function ‘virtual std
::vector<hardware_interface
::CommandInterface> pca9685_hardware
::Pca9685SystemHardware
::export_command_interfaces()’
:
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:59
:37
: error
: ‘HW_IF_POSITION’ is
not a member of ‘hardware_interface’
59 | hardware_interface
::HW_IF_POSITION,
| ^~~~~~~~~~~~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
: At global scope
:
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:67
:1
: error
: ‘CallbackReturn’ does
not name a type
67 | CallbackReturn Pca9685SystemHardware
::on_activate(const rclcpp_lifecycle
::State& previous_state)
| ^~~~~~~~~~~~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:126
:1
: error
: ‘CallbackReturn’ does
not name a type
126 | CallbackReturn Pca9685SystemHardware
::on_deactivate(const rclcpp_lifecycle
::State& previous_state)
| ^~~~~~~~~~~~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
: In member function ‘virtual hardware_interface
::return_type pca9685_hardware
::Pca9685SystemHardware
::read(const rclcpp
::Time&, const rclcpp
::Duration&)’
:
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:152
:81
: warning
: unused parameter ‘time’ [
-Wunused
-parameter]
152 | return_type Pca9685SystemHardware
::read(const rclcpp
::Time& time, const rclcpp
::Duration& period)
| ~~~~~~~~~~~~~~~~~~~~^~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:152
:111
: warning
: unused parameter ‘period’ [
-Wunused
-parameter]
152 | ardware
::read(const rclcpp
::Time& time, const rclcpp
::Duration& period)
| ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
: In member function ‘virtual hardware_interface
::return_type pca9685_hardware
::Pca9685SystemHardware
::write(const rclcpp
::Time&, const rclcpp
::Duration&)’
:
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:159
:82
: warning
: unused parameter ‘time’ [
-Wunused
-parameter]
159 | eturn_type Pca9685SystemHardware
::write(const rclcpp
::Time& time, const rclcpp
::Duration& period)
| ~~~~~~~~~~~~~~~~~~~~^~~~
/home/xyg/ros2_ws/src/pca9685_hardware/src/pca9685_system_hardware.cpp
:159
:112
: warning
: unused parameter ‘period’ [
-Wunused
-parameter]
159 | rdware
::write(const rclcpp
::Time& time, const rclcpp
::Duration& period)
| ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
gmake[2]
: *** [CMakeFiles/pca9685_hardware.dir/build.make
:76：CMakeFiles/pca9685_hardware.dir/src/pca9685_system_hardware.cpp.o] 错误 1
gmake[1]
: *** [CMakeFiles/Makefile2
:137：CMakeFiles/pca9685_hardware.dir/all] 错误 2
gmake
: *** [Makefile
:146：all] 错误 2
---
Failed <<< pca9685_hardware [2.25s, exited with code 2]
Summary
: 0 packages finished [2.39s]
1 package failed
: pca9685_hardware
1 package had stderr output
: pca9685_hardware
not found
: "/home/xyg/ros2_ws/install/pca9685_hardware/share/pca9685_hardware/local_setup.bash"
xyg@xyg
-T6AD
:~/ros2_ws$ ros2 control list_hardware_components | grep PCA9685
# 应输出
: pca9685_hardware/Pca9685SystemHardware
[INFO] [1750735736.192545351] [_ros2cli_16699]
: waiting for service /controller_manager/list_hardware_components to become available...
[WARN] [1750735746.210548769] [_ros2cli_16699]
: Could not contact service /controller_manager/list_hardware_components
[INFO] [1750735746.210767288] [_ros2cli_16699]
: waiting for service /controller_manager/list_hardware_components to become available...
^C
以下分别是pca9685_params.yaml：pca9685_hardware
:
ros__parameters
:
hardware
:
plugin: "pca9685_hardware/Pca9685SystemHardware"
i2c_bus
: "i2c
-1" # 移除/dev/前缀，代码中会自动添加
i2c_address
: "0x33" # I2C地址保持不变
channel_mapping
: "5,7,9,11,13,15" # 使用逗号分隔的字符串格式
joints
:
- joint1 # 关节名称与机器人结构对应
- joint2
- joint3
- joint4
- joint5
- joint6然后是pca9685_system_hardware.hpp：#ifndef PCA9685_HARDWARE__PCA9685_SYSTEM_HARDWARE_HPP_
#define PCA9685_HARDWARE__PCA9685_SYSTEM_HARDWARE_HPP_
#include <hardware_interface/types/hardware_interface_return_values.hpp>
#include <hardware_interface/system_interface.hpp>
#include <rclcpp_lifecycle/state.hpp>
#include <rclcpp/logger.hpp>
#include <memory>
#include <vector>
#include <string>
#include <fcntl.h>
#include <linux/i2c
-dev.h>
#include <unistd.h>
namespace pca9685_hardware
{
class Pca9685SystemHardware
: public hardware_interface
::SystemInterface
{
public
:
using CallbackReturn = hardware_interface
::CallbackReturn;
using ReturnType = hardware_interface
::return_type;
CallbackReturn on_init(const hardware_interface
::HardwareInfo& info) override;
std
::vector<hardware_interface
::StateInterface> export_state_interfaces() override;
std
::vector<hardware_interface
::CommandInterface> export_command_interfaces() override;
CallbackReturn on_activate(const rclcpp_lifecycle
::State& previous_state) override;
CallbackReturn on_deactivate(const rclcpp_lifecycle
::State& previous_state) override;
ReturnType read(const rclcpp
::Time& time, const rclcpp
::Duration& period) override;
ReturnType write(const rclcpp
::Time& time, const rclcpp
::Duration& period) override;
private
:
int i2c_fd_;
std
::string i2c_bus_;
int i2c_address_;
std
::vector<int> channel_mapping_;
std
::vector<double> hw_commands_;
std
::vector<double> hw_states_;
bool write_byte_data(int reg, uint8_t value);
bool write_word_data(int reg, uint16_t value);
uint8_t read_byte_data(int reg);
};
} // namespace pca9685_hardware
#endif // PCA9685_HARDWARE__PCA9685_SYSTEM_HARDWARE_HPP_
然后是：pca9685_hardware_
plugin.xml：<library path="libpca9685_hardware">
<class name="pca9685_hardware/Pca9685SystemHardware"
type="pca9685_hardware
::Pca9685SystemHardware"
base_class_type="hardware_interface
::SystemInterface">
<description>PCA9685 PWM控制器硬件接口</description>
</class>
</library>
还有：pca9685_system_hardware.cpp：#include "pca9685_hardware/pca9685_system_hardware.hpp"
#include <hardware_interface/types/hardware_interface_return_values.hpp>
#include <rclcpp/rclcpp.hpp>
#include <cmath>
namespace pca9685_hardware
{
CallbackReturn Pca9685SystemHardware
::on_init(const hardware_interface
::HardwareInfo& info)
{
if (SystemInterface
::on_init(info) != CallbackReturn
::SUCCESS) {
return CallbackReturn
::ERROR;
}
try {
i2c_bus_ = info.hardware_parameters.at("i2c_bus");
i2c_address_ = std
::stoi(info.hardware_parameters.at("i2c_address"), nullptr, 16);
std
::string channel_str = info.hardware_parameters.at("channel_mapping");
std
::istringstream iss(channel_str);
std
::string token;
while (std
::getline(iss, token, ',')) {
channel_mapping_.push_back(std
::stoi(token));
}
hw_commands_.resize(info.joints.size(), 0.0);
hw_states_.resize(info.joints.size(), 0.0);
return CallbackReturn
::SUCCESS;
} catch (const std
::exception& e) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "初始化失败
: %s", e.what());
return CallbackReturn
::ERROR;
}
}
std
::vector<hardware_interface
::StateInterface> Pca9685SystemHardware
::export_state_interfaces()
{
std
::vector<hardware_interface
::StateInterface> state_interfaces;
for (size_t i = 0; i < hw_states_.size(); i++) {
state_interfaces.emplace_back(
hardware_interface
::StateInterface(
info_.joints[i].name,
hardware_interface
::HW_IF_POSITION,
&hw_states_[i]
)
);
}
return state_interfaces;
}
std
::vector<hardware_interface
::CommandInterface> Pca9685SystemHardware
::export_command_interfaces()
{
std
::vector<hardware_interface
::CommandInterface> command_interfaces;
for (size_t i = 0; i < hw_commands_.size(); i++) {
command_interfaces.emplace_back(
hardware_interface
::CommandInterface(
info_.joints[i].name,
hardware_interface
::HW_IF_POSITION,
&hw_commands_[i]
)
);
}
return command_interfaces;
}
CallbackReturn Pca9685SystemHardware
::on_activate(const rclcpp_lifecycle
::State& previous_state)
{
RCLCPP_INFO(rclcpp
::get_logger("pca9685_hardware"), "激活硬件接口");
try {
std
::string device_path = "/dev/" + i2c_bus_;
i2c_fd_ = open(device_path.c_str(), O_RDWR);
if (i2c_fd_ < 0) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "无法打开I2C设备
: %s", device_path.c_str());
return CallbackReturn
::ERROR;
}
if (
ioctl(i2c_fd_, I2C_SLAVE, i2c_address_) < 0) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "无法设置I2C地址
: 0x%02X", i2c_address_);
close(i2c_fd_);
return CallbackReturn
::ERROR;
}
// 初始化PCA9685
if (!write_byte_data(0x00, 0x01)) { // 复位
return CallbackReturn
::ERROR;
}
usleep(50000);
// 设置为普通模式
if (!write_byte_data(0x00, 0x00)) {
return CallbackReturn
::ERROR;
}
// 设置PWM频率为50Hz (20ms周期)
uint8_t prescale = static_cast<uint8_t>(25000000.0 / (4096.0 * 50.0)
- 1);
uint8_t old_mode = read_byte_data(0x00);
uint8_t new_mode = (old_mode & 0x7F) | 0x10; // 进入睡眠模式
if (!write_byte_data(0x00, new_mode)) {
return CallbackReturn
::ERROR;
}
if (!write_byte_data(0xFE, prescale)) {
return CallbackReturn
::ERROR;
}
if (!write_byte_data(0x00, old_mode)) {
return CallbackReturn
::ERROR;
}
usleep(50000);
if (!write_byte_data(0x00, old_mode | 0x80)) { // 启用自动递增
return CallbackReturn
::ERROR;
}
RCLCPP_INFO(rclcpp
::get_logger("pca9685_hardware"), "硬件接口激活成功");
return CallbackReturn
::SUCCESS;
} catch (const std
::exception& e) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "激活失败
: %s", e.what());
if (i2c_fd_ >= 0) {
close(i2c_fd_);
}
return CallbackReturn
::ERROR;
}
}
CallbackReturn Pca9685SystemHardware
::on_deactivate(const rclcpp_lifecycle
::State& previous_state)
{
RCLCPP_INFO(rclcpp
::get_logger("pca9685_hardware"), "停用硬件接口");
try {
// 关闭所有PWM通道
for (size_t i = 0; i < 16; i++) {
if (!write_word_data(0x06 + 4 * i, 0)) {
RCLCPP_WARN(rclcpp
::get_logger("pca9685_hardware"), "关闭通道 %zu 失败", i);
}
}
if (i2c_fd_ >= 0) {
close(i2c_fd_);
i2c_fd_ =
-1;
}
RCLCPP_INFO(rclcpp
::get_logger("pca9685_hardware"), "硬件接口停用成功");
return CallbackReturn
::SUCCESS;
} catch (const std
::exception& e) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "停用失败
: %s", e.what());
return CallbackReturn
::ERROR;
}
}
hardware_interface
::return_type Pca9685SystemHardware
::read(const rclcpp
::Time& time, const rclcpp
::Duration& period)
{
// 舵机通常没有位置反馈，所以我们将命令值作为状态返回
hw_states_ = hw_commands_;
return ReturnType
::OK;
}
hardware_interface
::return_type Pca9685SystemHardware
::write(const rclcpp
::Time& time, const rclcpp
::Duration& period)
{
try {
for (size_t i = 0; i < hw_commands_.size(); i++) {
if (i >= channel_mapping_.size()) {
RCLCPP_WARN(rclcpp
::get_logger("pca9685_hardware"), "通道映射越界
: %zu", i);
continue;
}
// 将弧度转换为角度 (0
-180度)
double angle_rad = hw_commands_[i];
double angle_deg = std
::fmod(std
::fmod(angle_rad, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
angle_deg = std
::clamp(angle_deg * 180.0 / M_PI, 0.0, 180.0);
// 计算PWM脉冲宽度 (500
-2500us对应0
-180度)
uint16_t pulse_width = static_cast<uint16_t>(500 + (angle_deg / 180.0) * (2500
- 500));
uint16_t pwm_value = static_cast<uint16_t>(pulse_width * 4096.0 / 20000.0);
// 设置PWM输出
int channel = channel_mapping_[i];
if (channel < 0 || channel > 15) {
RCLCPP_WARN(rclcpp
::get_logger("pca9685_hardware"), "无效通道
: %d", channel);
continue;
}
// 设置PWM值 (0为关闭时间，pwm_value为开启时间)
if (!write_word_data(0x06 + 4 * channel, 0)) {
RCLCPP_WARN(rclcpp
::get_logger("pca9685_hardware"), "设置通道 %d 关闭时间失败", channel);
}
if (!write_word_data(0x08 + 4 * channel, pwm_value)) {
RCLCPP_WARN(rclcpp
::get_logger("pca9685_hardware"), "设置通道 %d 开启时间失败", channel);
}
}
return ReturnType
::OK;
} catch (const std
::exception& e) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "写入失败
: %s", e.what());
return ReturnType
::ERROR;
}
}
bool Pca9685SystemHardware
::write_byte_data(int reg, uint8_t value)
{
uint8_t buf[2] = {static_cast<uint8_t>(reg), value};
if (
::write(i2c_fd_, buf, 2) != 2) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "I2C写入失败
: reg=0x%02X, value=0x%02X", reg, value);
return false;
}
return true;
}
bool Pca9685SystemHardware
::write_word_data(int reg, uint16_t value)
{
uint8_t buf[3] = {
static_cast<uint8_t>(reg),
static_cast<uint8_t>(value & 0xFF),
static_cast<uint8_t>((value >> 8) & 0xFF)
};
if (
::write(i2c_fd_, buf, 3) != 3) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "I2C写入失败
: reg=0x%02X, value=0x%04X", reg, value);
return false;
}
return true;
}
uint8_t Pca9685SystemHardware
::read_byte_data(int reg)
{
uint8_t buf = static_cast<uint8_t>(reg);
if (
::write(i2c_fd_, &buf, 1) != 1) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "I2C写入寄存器失败
: reg=0x%02X", reg);
return 0;
}
if (
::read(i2c_fd_, &buf, 1) != 1) {
RCLCPP_ERROR(rclcpp
::get_logger("pca9685_hardware"), "I2C读取失败
: reg=0x%02X", reg);
return 0;
}
return buf;
}
} // namespace pca9685_hardware
#include "
pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(pca9685_hardware
::Pca9685SystemHardware, hardware_interface
::SystemInterface)
CMakeLists.txt：cmake_minimum_required(VERSION 3.8)
project(pca9685_hardware)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(
-Wall
-Wextra
-Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(
pluginlib REQUIRED)
add_library(
${PROJECT_NAME}
SHARED
src/pca9685_system_hardware.cpp
)
tar
get_include_directories(
${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE
:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE
:include>
)
ament_tar
get_dependencies(
${PROJECT_NAME}
"hardware_interface"
"rclcpp"
"rclcpp_lifecycle"
"
pluginlib"
)
# 导出插件描述文件（确保resource目录存在）
pluginlib_export_
plugin_description_file(hardware_interface resource/pca9685_hardware_
plugin.xml)
install(
TAR
GETS ${PROJECT_NAME}
DESTINATION lib
)
install(
DIRECTORY include/
DESTINATION include
)
# 安装插件描述文件（明确指定resource目录）
install(
FILES resource/pca9685_hardware_
plugin.xml
DESTINATION share/${PROJECT_NAME}
)
ament_package()
package.xml：<?xml version="1.0"?>
<?xml
-model href="http
://download.ros.org/schema/package_format3.xsd" schematypens="http
://www.w3.org/2001/XMLSchema
-instance"?>
<package format="3">
<name>pca9685_hardware</name>
<version>0.0.1</version>
<description>PCA9685 PWM Servo Driver Hardware Interface for ROS 2</description>
<maintainer email="xyg@example.com">xyg</maintainer>
<license>Apache License 2.0</license>
<!
-- 核心依赖
-->
<depend>hardware_interface</depend>
<depend>rclcpp</depend>
<depend>
pluginlib</depend>
<depend>controller_manager</depend>
<depend>rclcpp_lifecycle</depend>
<!
-- 测试依赖
-->
<test_depend>ament_cmake</test_depend>
<test_depend>ament_cmake_copyright</test_depend>
<test_depend>ament_cmake_clang_format</test_depend>
<test_depend>ament_cmake_cppcheck</test_depend>
<!
-- 移除所有Python相关依赖
-->
<!
-- 原test_depend已删除
: ament_flake8, ament_pep257, python3
-pytest
-->
<export>
<!
-- 改为ament_cmake编译类型
-->
<build_type>ament_cmake</build_type>
<!
-- 硬件接口插件描述文件
-->
<hardware_interface
plugin="${prefix}/resource/
plugin_description.xml" />
</export>
</package>
以上是各个文件内容以及启动日志报错内容
本文介绍了解决视频压缩失败的方法，特别是当视频可以预览但无法压缩时的情况。通过对比不同内核模块，指出了缺失的模块，并提供了重新编译内核模块的具体步骤。
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