ROSNOTE : rosserial_python 通信协议

rosserial是用于非ROS设备与ros设备进行通信的协议。

为非ROS 设备的应用程序提供了ROS节点和服务的发布/订阅功能。可通过串口或网络与ROS应用数据交互。

rosserial分为客户端和服务器两部分。rosserial客户端运行在运行在没有安装ROS的环境的应用中，通过串口或网络与运行在ROS

环境中的rosserial服务器连接，并通过服务器节点在ROS中发布/订阅话题。

链接：

https://blog.youkuaiyun.com/scx837685002/article/details/102770753

https://blog.youkuaiyun.com/ZhangRelay/article/details/101011276rs

rosserial 官网

---

环境是:TX2、ubuntu18.04、melodic

1

lsusb

2

ls -l /dev/ttyUSB0

3、串口赋权 : sudo chmod 777 /dev/ttyUSB0

4\

cmake_minimum_required(VERSION 3.0.2)
project(riki_msgs)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  message_generation 
  std_msgs 
  geometry_msgs
)

## Generate messages in the 'msg' folder
add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
  DIRECTORY msg
  FILES
  Velocities.msg
  PID.msg
  Imu.msg
  Battery.msg
  DHT22.msg
  Servo.msg
  Infrared.msg
  Ultrasonic.msg
 )

generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
DEPENDENCIES 
std_msgs 
geometry_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES riki_msgs
#  CATKIN_DEPENDS roscpp rospy
#  DEPENDS system_lib
CATKIN_DEPENDS 
message_runtime 
std_msgs 
geometry_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

5\

<?xml version="1.0"?>
<package format="2">
  <name>riki_msgs</name>
  <version>0.0.0</version>
  <description>The riki_msgs package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="robot@todo.todo">robot</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/riki_msgs</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>

  <build_depend>message_generation</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>

  <exec_depend>message_runtime</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

4、保证已下载rosserial_python包

     下载命令是：

sudo apt-get install ros-melodic-rosserial-python

    卸载包的命令是：

sudo apt-get purge ros-melodic-rosserial-python

 5、运行

rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

 

未完待续。。。