ESP32与ROS调试笔记（Linux和Windows）

ESP32支持ROS1和ROS2，很方便使用，有两种主流方式：

• arduino IDE （1.8.13）
• esp idf（4.2）

网上和Github上有很多方式，用了一下都感觉不适合我！

其实很简单，和esp8266类似，只用arduino自带的ros包即可，注意版本号0.7.8。

参考如下：ESP8266和ESP32配置（需使用ROS1和ROS2）

这里，主要看源码需要修改的地方，头文件！

esp8266使用/home/ros/.arduino15/packages/esp8266/hardware/esp8266/2.7.4/libraries/ESP8266WiFi/src

• ESP8266WiFi.h

  

   

    

     

    
    

     

      #ifndef WiFi_h
     
    
   

    

     

    
    

     

      #define WiFi_h
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include <stdint.h>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      extern "C" {
     
    
   

    

     

    
    

     

      #include "include/wl_definitions.h"
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include "IPAddress.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include "ESP8266WiFiType.h"
     
    
   

    

     

    
    

     

      #include "ESP8266WiFiSTA.h"
     
    
   

    

     

    
    

     

      #include "ESP8266WiFiAP.h"
     
    
   

    

     

    
    

     

      #include "ESP8266WiFiScan.h"
     
    
   

    

     

    
    

     

      #include "ESP8266WiFiGeneric.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include "WiFiClient.h"
     
    
   

    

     

    
    

     

      #include "WiFiServer.h"
     
    
   

    

     

    
    

     

      #include "WiFiServerSecure.h"
     
    
   

    

     

    
    

     

      #include "WiFiClientSecure.h"
     
    
   

    

     

    
    

     

      #include "BearSSLHelpers.h"
     
    
   

    

     

    
    

     

      #include "CertStoreBearSSL.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #ifdef DEBUG_ESP_WIFI
     
    
   

    

     

    
    

     

      #ifdef DEBUG_ESP_PORT
     
    
   

    

     

    
    

     

      #define DEBUG_WIFI(fmt, ...) DEBUG_ESP_PORT.printf_P( (PGM_P)PSTR(fmt), ##__VA_ARGS__ )
     
    
   

    

     

    
    

     

      #endif
     
    
   

    

     

    
    

     

      #endif
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #ifndef DEBUG_WIFI
     
    
   

    

     

    
    

     

      #define DEBUG_WIFI(...) do { (void)0; } while (0)
     
    
   

    

     

    
    

     

      #endif
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      class ESP8266WiFiClass : public ESP8266WiFiGenericClass, public ESP8266WiFiSTAClass, public ESP8266WiFiScanClass, public ESP8266WiFiAPClass {
     
    
   

    

     

    
    

     
 public:
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 // workaround same function name with different signature
     
    
   

    

     

    
    

     
 using ESP8266WiFiGenericClass::channel;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 using ESP8266WiFiSTAClass::SSID;
     
    
   

    

     

    
    

     
 using ESP8266WiFiSTAClass::RSSI;
     
    
   

    

     

    
    

     
 using ESP8266WiFiSTAClass::BSSID;
     
    
   

    

     

    
    

     
 using ESP8266WiFiSTAClass::BSSIDstr;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::SSID;
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::encryptionType;
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::RSSI;
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::BSSID;
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::BSSIDstr;
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::channel;
     
    
   

    

     

    
    

     
 using ESP8266WiFiScanClass::isHidden;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 // ----------------------------------------------------------------------------------------------
     
    
   

    

     

    
    

     
 // ------------------------------------------- Debug --------------------------------------------
     
    
   

    

     

    
    

     
 // ----------------------------------------------------------------------------------------------
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 public:
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 void printDiag(Print& dest);
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 friend class WiFiClient;
     
    
   

    

     

    
    

     
 friend class WiFiServer;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      };
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      extern ESP8266WiFiClass WiFi;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #endif
     
    
  
 

esp32使用/home/ros/.arduino15/packages/esp32/hardware/esp32/1.0.4/libraries/WiFi/src

• WiFi.h

这个会和系统目录中wifi.h重合，请务必保证编译时头文件路径正确！

  

   

    

     

    
    

     

      #ifndef WiFi_h
     
    
   

    

     

    
    

     

      #define WiFi_h
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include <stdint.h>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include "Print.h"
     
    
   

    

     

    
    

     

      #include "IPAddress.h"
     
    
   

    

     

    
    

     

      #include "IPv6Address.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include "WiFiType.h"
     
    
   

    

     

    
    

     

      #include "WiFiSTA.h"
     
    
   

    

     

    
    

     

      #include "WiFiAP.h"
     
    
   

    

     

    
    

     

      #include "WiFiScan.h"
     
    
   

    

     

    
    

     

      #include "WiFiGeneric.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include "WiFiClient.h"
     
    
   

    

     

    
    

     

      #include "WiFiServer.h"
     
    
   

    

     

    
    

     

      #include "WiFiUdp.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      class WiFiClass : public WiFiGenericClass, public WiFiSTAClass, public WiFiScanClass, public WiFiAPClass
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

      public:
     
    
   

    

     

    
    

     
 using WiFiGenericClass::channel;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 using WiFiSTAClass::SSID;
     
    
   

    

     

    
    

     
 using WiFiSTAClass::RSSI;
     
    
   

    

     

    
    

     
 using WiFiSTAClass::BSSID;
     
    
   

    

     

    
    

     
 using WiFiSTAClass::BSSIDstr;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 using WiFiScanClass::SSID;
     
    
   

    

     

    
    

     
 using WiFiScanClass::encryptionType;
     
    
   

    

     

    
    

     
 using WiFiScanClass::RSSI;
     
    
   

    

     

    
    

     
 using WiFiScanClass::BSSID;
     
    
   

    

     

    
    

     
 using WiFiScanClass::BSSIDstr;
     
    
   

    

     

    
    

     
 using WiFiScanClass::channel;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      public:
     
    
   

    

     

    
    

     
 void printDiag(Print& dest);
     
    
   

    

     

    
    

     
 friend class WiFiClient;
     
    
   

    

     

    
    

     
 friend class WiFiServer;
     
    
   

    

     

    
    

     
 friend class WiFiUDP;
     
    
   

    

     

    
    

     

      };
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      extern WiFiClass WiFi;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #endif
     
    
  
 

一切正常愉快玩耍：

编译如有问题请自行查错修订，测试过代码如下，wifi名和密码为***，请用实际替换，UART使用如教程一致：

  

   

    

     

    
    

     

      #include "WiFi.h"
     
    
   

    

     

    
    

     

      #include <ros.h>
     
    
   

    

     

    
    

     

      #include <std_msgs/String.h>
     
    
   

    

     

    
    

     

      #include <std_msgs/Int16.h>
     
    
   

    

     

    
    

     

      #include <std_msgs/Float64.h>
     
    
   

    

     

    
    

     

      #include <rosserial_arduino/Adc.h>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      //
     
    
   

    

     

    
    

     

      // WiFi Definitions //
     
    
   

    

     

    
    

     

      //
     
    
   

    

     

    
    

     

      const char* ssid = "********";
     
    
   

    

     

    
    

     

      const char* password = "*********";
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      IPAddress server(172, 20, 10, 3); // ip of your ROS server
     
    
   

    

     

    
    

     

      IPAddress ip_address;
     
    
   

    

     

    
    

     

      int status = WL_IDLE_STATUS;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      WiFiClient client;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      class WiFiHardware {
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  public:
     
    
   

    

     

    
    

     

        WiFiHardware() {};
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  void init() {
     
    
   

    

     

    
    

     
 // do your initialization here. this probably includes TCP server/client setup
     
    
   

    

     

    
    

     

       client.connect(server, 11411);
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  // read a byte from the serial port. -1 = failure
     
    
   

    

     

    
    

     
  int read() {
     
    
   

    

     

    
    

     
 // implement this method so that it reads a byte from the TCP connection and returns it
     
    
   

    

     

    
    

     
 // you may return -1 is there is an error; for example if the TCP connection is not open
     
    
   

    

     

    
    

     
 return client.read(); //will return -1 when it will works
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  // write data to the connection to ROS
     
    
   

    

     

    
    

     
  void write(uint8_t* data, int length) {
     
    
   

    

     

    
    

     
 // implement this so that it takes the arguments and writes or prints them to the TCP connection
     
    
   

    

     

    
    

     
 for(int i=0; i<length; i++)
     
    
   

    

     

    
    

     

       client.write(data[i]);
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  // returns milliseconds since start of program
     
    
   

    

     

    
    

     
  unsigned long time() {
     
    
   

    

     

    
    

     
 return millis(); // easy; did this one for you
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     

      };
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      int i;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void chatterCallback(const std_msgs::String& msg) {
     
    
   

    

     

    
    

     

        i = atoi(msg.data);
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      std_msgs::String str_msg;
     
    
   

    

     

    
    

     

      rosserial_arduino::Adc adc_msg;
     
    
   

    

     

    
    

     

      ros::Publisher chatter("chatter", &str_msg);
     
    
   

    

     

    
    

     

      ros::Publisher p("adc", &adc_msg);
     
    
   

    

     

    
    

     

      ros::Subscriber<std_msgs::String> sub("message", &chatterCallback);
     
    
   

    

     

    
    

     

      ros::NodeHandle_<WiFiHardware> nh;
     
    
   

    

     

    
    

     

      char hello[20] = "ESP32 wifi alive!";
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void setupWiFi()
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

        WiFi.begin(ssid, password);
     
    
   

    

     

    
    

     

        Serial.print("\nConnecting to "); Serial.println(ssid);
     
    
   

    

     

    
    

     
  uint8_t i = 0;
     
    
   

    

     

    
    

     
  while (WiFi.status() != WL_CONNECTED && i++ < 20) delay(500);
     
    
   

    

     

    
    

     
  if(i == 21){
     
    
   

    

     

    
    

     

       Serial.print("Could not connect to"); Serial.println(ssid);
     
    
   

    

     

    
    

     
 while(1) delay(500);
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     

        Serial.print("Ready! Use ");
     
    
   

    

     

    
    

     

        Serial.print(WiFi.localIP());
     
    
   

    

     

    
    

     

        Serial.println(" to access client");
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      int averageAnalog(int pin){
     
    
   

    

     

    
    

     
  int v=0;
     
    
   

    

     

    
    

     
  for(int i=0; i<4; i++) v+= analogRead(pin);
     
    
   

    

     

    
    

     
  return v/4;
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void setup() {
     
    
   

    

     

    
    

     

        Serial.begin(115200);
     
    
   

    

     

    
    

     

        setupWiFi();
     
    
   

    

     

    
    

     

        delay(2000);
     
    
   

    

     

    
    

     

        nh.initNode();
     
    
   

    

     

    
    

     

        nh.advertise(chatter);
     
    
   

    

     

    
    

     

        nh.subscribe(sub);
     
    
   

    

     

    
    

     

        nh.advertise(p);
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void loop() {
     
    
   

    

     

    
    

     

        str_msg.data = hello;
     
    
   

    

     

    
    

     

        chatter.publish( &str_msg );
     
    
   

    

     

    
    

     

        adc_msg.adc0 = averageAnalog(0);
     
    
   

    

     

    
    

     

        p.publish(&adc_msg);
     
    
   

    

     

    
    

     

        nh.spinOnce();
     
    
   

    

     

    
    

     

        delay(500);
     
    
   

    

     

    
    

     

      }
     
    
  
 

主机端配置对应IP。

rosrun rosserial_python serial_node.py tcp

连接成功！！！

查看一下主题？

很愉快，一次成功，没有遇到什么奇怪的问题。和8266几乎一致，但是esp32性能强于8266。

windows环境下测试：

先看IP是否匹配，注意UART看串口号，wifi看IP，一定要正确才可以！

接着，直接用可以使用了。

然后启动，tcp节点：

rosrun rosserial_server socket_node tcp

查看一下：

注意，如果配置不正确，无法看到/adc，/chatter，/message等主题哦。

支持ros版本（melodic，neotic），系统版本（linux，windows），已全部测试均可以。

C:\ros_ws>set ROS_IP=172.20.10.3 C:\ros_ws>set ROS_MASTER_URI=http://172.20.10.3:11311 C:\ros_ws>roscore ... logging to C:\Users\zhangrelay\.ros\log\56128ade-1a25-11eb-9f50-94b86dd78b23\roslaunch-LAPTOP-5REQ7K1L-10872.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://172.20.10.3:60658/ ros_comm version 1.14.9 SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.9 NODES auto-starting new master process[master]: started with pid [12060] ROS_MASTER_URI=http://172.20.10.3:11311/ setting /run_id to 56128ade-1a25-11eb-9f50-94b86dd78b23 process[rosout-1]: started with pid [13192] started core service [/rosout] 
 

-fin-

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/109380412