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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) |
Packages
| Name | Version |
|---|---|
| ros2_stm32_bridge | 0.0.0 |
README
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。
CONTRIBUTING
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