ESP8266和ROS调试一些问题汇总
【摘要】 在库中安装如下：
务必注意版本号，最好用0.7.8，其他版本均出现不正常状况！
这里记录两个重要的功能：
ESP8266WiFi.hros.h
espros在github上下载，目前还是比较小众的，星星都没有过百呢！
两段代码简单测试一下：
chatter
#include <ESP8266WiFi.h> #include <ros.h&g...
在库中安装如下：
务必注意版本号，最好用0.7.8，其他版本均出现不正常状况！
这里记录两个重要的功能：
- ESP8266WiFi.h
- ros.h
espros在github上下载，目前还是比较小众的，星星都没有过百呢！
两段代码简单测试一下：
chatter
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#include <ESP8266WiFi.h>
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#include <ros.h>
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#include <std_msgs/String.h>
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#include <std_msgs/Int16.h>
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#include <std_msgs/Float64.h>
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ros::NodeHandle nh;
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int led;
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void messageCb(const std_msgs::Int16& msg) {
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if(msg.data > 0){
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led=abs(msg.data);
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digitalWrite(led, HIGH-digitalRead(led)); // blink the led
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}
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}
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std_msgs::String str_msg;
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ros::Publisher chatter("chatter", &str_msg);
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ros::Subscriber<std_msgs::Int16> sub("led", &messageCb);
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char hello[15] = "ESP8266 alive!";
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void setup()
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{
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pinMode(2, OUTPUT);
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pinMode(12, OUTPUT);
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pinMode(13, OUTPUT);
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pinMode(15, OUTPUT);
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nh.initNode();
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nh.advertise(chatter);
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nh.subscribe(sub);
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}
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void loop()
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{
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str_msg.data = hello;
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chatter.publish( &str_msg );
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nh.spinOnce();
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delay(1000);
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}
注意，2号可以开关wifi边上的小灯哦。
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Sketch uses 266816 bytes (25%) of program storage space. Maximum is 1044464 bytes.
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Global variables use 28452 bytes (34%) of dynamic memory, leaving 53468 bytes for local variables. Maximum is 81920 bytes.
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esptool.py v2.6
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2.6
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esptool.py v2.6
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Serial port /dev/ttyUSB0
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Connecting....
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Chip is ESP8266EX
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Features: WiFi
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MAC: 2c:f4:32:2d:58:0a
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Uploading stub...
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Running stub...
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Stub running...
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Changing baud rate to 460800
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Changed.
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Configuring flash size...
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Auto-detected Flash size: 4MB
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Compressed 270976 bytes to 197513...
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Writing at 0x00000000... (7 %)
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Writing at 0x00004000... (15 %)
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Writing at 0x00008000... (23 %)
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Writing at 0x0000c000... (30 %)
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Writing at 0x00010000... (38 %)
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Writing at 0x00014000... (46 %)
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Writing at 0x00018000... (53 %)
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Writing at 0x0001c000... (61 %)
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Writing at 0x00020000... (69 %)
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Writing at 0x00024000... (76 %)
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Writing at 0x00028000... (84 %)
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Writing at 0x0002c000... (92 %)
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Writing at 0x00030000... (100 %)
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Wrote 270976 bytes (197513 compressed) at 0x00000000 in 4.6 seconds (effective 472.9 kbit/s)...
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Hash of data verified.
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Leaving...
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Hard resetting via RTS pin...
试下如下命令吧：
rosrun rosserial_arduino serial_node.py _port:=/dev/ttyUSB0
rostopic list
rostopic pub /led std_msgs/Int16 "data: 2"
rostopic echo /chatter
esproswifi
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#include <ESP8266WiFi.h>
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#include <ros.h>
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#include <std_msgs/String.h>
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#include <std_msgs/Int16.h>
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#include <std_msgs/Float64.h>
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#include <Servo.h>
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//
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// WiFi Definitions //
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//
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const char* ssid = "HUAWEI_WiFi";
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const char* password = "xxxxxxxx";
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IPAddress server(192, 168, 3, 153); // ip of your ROS server
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IPAddress ip_address;
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int status = WL_IDLE_STATUS;
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WiFiClient client;
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class WiFiHardware {
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public:
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WiFiHardware() {};
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void init() {
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// do your initialization here. this probably includes TCP server/client setup
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client.connect(server, 11411);
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}
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// read a byte from the serial port. -1 = failure
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int read() {
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// implement this method so that it reads a byte from the TCP connection and returns it
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// you may return -1 is there is an error; for example if the TCP connection is not open
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return client.read(); //will return -1 when it will works
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}
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// write data to the connection to ROS
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void write(uint8_t* data, int length) {
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// implement this so that it takes the arguments and writes or prints them to the TCP connection
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for(int i=0; i<length; i++)
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client.write(data[i]);
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}
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// returns milliseconds since start of program
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unsigned long time() {
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return millis(); // easy; did this one for you
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}
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};
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Servo s;
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int i;
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void chatterCallback(const std_msgs::String& msg) {
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i = atoi(msg.data);
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s.write(i);
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}
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ros::Subscriber<std_msgs::String> sub("message", &chatterCallback);
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ros::NodeHandle_<WiFiHardware> nh;
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void setupWiFi()
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{
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WiFi.begin(ssid, password);
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Serial.print("\nConnecting to "); Serial.println(ssid);
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uint8_t i = 0;
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while (WiFi.status() != WL_CONNECTED && i++ < 20) delay(500);
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if(i == 21){
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Serial.print("Could not connect to"); Serial.println(ssid);
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while(1) delay(500);
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}
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Serial.print("Ready! Use ");
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Serial.print(WiFi.localIP());
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Serial.println(" to access client");
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}
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void setup() {
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Serial.begin(115200);
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setupWiFi();
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delay(2000);
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s.attach(2); // PWM pin
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nh.initNode();
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nh.subscribe(sub);
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}
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void loop() {
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nh.spinOnce();
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delay(500);
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}
注意wifi名称和密码一定要正确！！！
然后就一切正常了：
使用如下命令：
rosrun rosserial_python serial_node.py tcp
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#include <ESP8266WiFi.h>
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#include <ros.h>
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#include <std_msgs/String.h>
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#include <std_msgs/Int16.h>
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#include <std_msgs/Float64.h>
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#include <Servo.h>
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//
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// WiFi Definitions //
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//
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const char* ssid = "HUAWEI_WiFi";
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const char* password = "cslgcslg";
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IPAddress server(192, 168, 3, 153); // ip of your ROS server
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IPAddress ip_address;
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int status = WL_IDLE_STATUS;
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WiFiClient client;
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class WiFiHardware {
-
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public:
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WiFiHardware() {};
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void init() {
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// do your initialization here. this probably includes TCP server/client setup
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client.connect(server, 11411);
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}
-
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// read a byte from the serial port. -1 = failure
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int read() {
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// implement this method so that it reads a byte from the TCP connection and returns it
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// you may return -1 is there is an error; for example if the TCP connection is not open
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return client.read(); //will return -1 when it will works
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}
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// write data to the connection to ROS
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void write(uint8_t* data, int length) {
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// implement this so that it takes the arguments and writes or prints them to the TCP connection
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for(int i=0; i<length; i++)
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client.write(data[i]);
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}
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// returns milliseconds since start of program
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unsigned long time() {
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return millis(); // easy; did this one for you
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}
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};
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Servo s;
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int i;
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void chatterCallback(const std_msgs::String& msg) {
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i = atoi(msg.data);
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s.write(i);
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}
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-
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std_msgs::String str_msg;
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ros::Publisher chatter("chatter", &str_msg);
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ros::Subscriber<std_msgs::String> sub("message", &chatterCallback);
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ros::NodeHandle_<WiFiHardware> nh;
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char hello[20] = "ESP8266 wifi alive!";
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-
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void setupWiFi()
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{
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WiFi.begin(ssid, password);
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Serial.print("\nConnecting to "); Serial.println(ssid);
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uint8_t i = 0;
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while (WiFi.status() != WL_CONNECTED && i++ < 20) delay(500);
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if(i == 21){
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Serial.print("Could not connect to"); Serial.println(ssid);
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while(1) delay(500);
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}
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Serial.print("Ready! Use ");
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Serial.print(WiFi.localIP());
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Serial.println(" to access client");
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}
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void setup() {
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Serial.begin(115200);
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setupWiFi();
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delay(2000);
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s.attach(2); // PWM pin
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nh.initNode();
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nh.advertise(chatter);
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nh.subscribe(sub);
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}
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void loop() {
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str_msg.data = hello;
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chatter.publish( &str_msg );
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nh.spinOnce();
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delay(500);
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}
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/108762844
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