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ros2_stm32_bridge package from ros2_stm32_bridge repo

ros2_stm32_bridge

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 为stm32底盘设计的ROS2驱动程序。
Checkout URI https://github.com/damuxt/ros2_stm32_bridge.git
VCS Type git
VCS Version main
Last Updated 2023-09-24
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • ros2

Authors

No additional authors.
README.md

ros2_stm32_bridge

适配以stm32为主控的两轮或四轮差速底盘的ROS2驱动。

使用准备

1.硬件准备

通过USB数据线将机器人底盘连接到上位机，并打开底盘开关。上位机终端下执行指令：

ll /dev/ttyUSB*

如正常，将输出类似如下的结果：

crw-rw---- 1 root dialout 166, 0  4月 27 20:15 /dev/ttyUSB0

PS：如果物理连接无异常，Ubuntu系统显示无法访问 ‘/dev/ttyUSB‘: 没有那个文件或目录，那么可能是brltty驱动占用导致的，可以运行sudo apt remove brltty 然后重新插拔一下设备即可解决问题。

2.软件安装

将此软件包下载到你的ROS2工作空间下的src目录。

3.环境配置

3.1端口映射

终端下进入ros2_stm32_bridge/scripts,并执行指令：

bash create_udev_rules.sh

该指令将为STM32端口绑定一个固定名称，重新将底盘与上位机连接，执行如下指令：

ll /dev | grep -i ttyUSB

如正常，将输出类似如下的结果：

lrwxrwxrwx   1 root root           7  4月 27 20:16 mycar -> ttyUSB0
crwxrwxrwx   1 root dialout 166,   0  4月 27 20:16 ttyUSB0
3.2设置车辆类型

修改上位机用户目录下的 .bashrc 文件，在该文件中设置车辆类型，如果你使用的是两轮差速底盘，则添加如下语句：

export MYCAR_MODEL=stm32_2w

如果你使用的是四轮差速底盘，则添加如下语句：

export MYCAR_MODEL=stm32_4w

4.构建功能包

工作空间下调用如下指令，构建功能包：

colcon build --packages-select ros2_stm32_bridge

使用流程

1.配置参数

在功能包下提供了机器人底盘相关参数的配置文件ros2_stm32_bridge/params，stm32_2w.yaml为两轮差速底盘的配置文件,stm32_4w.yaml为四轮差速底盘的配置文件，参数内容可以自行修改（如果是初次使用，建议使用默认）。

stm32_2w.yaml的文件内容如下：

/mini_driver:
  ros__parameters:
    base_frame: base_footprint
    baud_rate: 115200
    control_rate: 10
    encoder_resolution: 44.0
    kd: 30
    ki: 0
    kp: 25
    maximum_encoding: 100.0
    model_param_acw: 0.21
    model_param_cw: 0.21
    odom_frame: odom
    port_name: /dev/mycar
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
      /tf:
        publisher:
          depth: 100
          durability: volatile
          history: keep_last
          reliability: reliable
    reduction_ratio: 90.0
    use_sim_time: false
    wheel_diameter: 0.065

stm32_4w.yaml的文件内容如下：

/mini_driver:
  ros__parameters:
    base_frame: base_footprint
    baud_rate: 115200
    control_rate: 10
    encoder_resolution: 44.0
    kd: 30
    ki: 0
    kp: 25
    maximum_encoding: 100.0
    model_param_acw: 0.45
    model_param_cw: 0.45
    odom_frame: odom
    port_name: /dev/mycar
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
      /tf:
        publisher:
          depth: 100
          durability: volatile
          history: keep_last
          reliability: reliable
    reduction_ratio: 90.0
    use_sim_time: false
    wheel_diameter: 0.080

2.启动launch文件

工作空间下，调用如下指令启动launch文件：

. install/setup.bash
ros2 launch ros2_stm32_bridge driver.launch.py

3.控制底盘运动

上位机上，启动键盘控制节点：

ros2 run teleop_twist_keyboard teleop_twist_keyboard

接下来，就可以通过键盘控制机器人运动了。

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common
rclcpp
std_msgs
sensor_msgs
nav_msgs
geometry_msgs
tf2
tf2_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ros2_stm32_bridge at Robotics Stack Exchange

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