esp32与ros2的欢乐启程

超级简单，先看效果：

esp32的代码也超级简单（udp4）：

  

   

    

     

    
    

     

      #include <ros2arduino.h>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #include <WiFi.h>
     
    
   

    

     

    
    

     

      #include <WiFiUdp.h>
     
    
   

    

     

    
    

     

      #define SSID "Relay_iPhone"
     
    
   

    

     

    
    

     

      #define SSID_PW "66666666"
     
    
   

    

     

    
    

     

      #define AGENT_IP "172.20.10.2"
     
    
   

    

     

    
    

     

      #define AGENT_PORT 2021 //AGENT port number
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #define PUBLISH_FREQUENCY 1 //hz
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void publishString(std_msgs::String* msg, void* arg)
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

        (void)(arg);
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  static int cnt = 0;
     
    
   

    

     

    
    

     
  sprintf(msg->data, "欢乐的esp32和ros2 %d", cnt++);
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      class StringPub : public ros2::Node
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

      public:
     
    
   

    

     

    
    

     

        StringPub()
     
    
   

    

     

    
    

     

        : Node("esp32_pub_node")
     
    
   

    

     

    
    

     

        {
     
    
   

    

     

    
    

     

          ros2::Publisher<std_msgs::String>* publisher_ = this->createPublisher<std_msgs::String>("esp32_chatter");
     
    
   

    

     

    
    

     
    this->createWallFreq(PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishString, nullptr, publisher_);
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     

      };
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      WiFiUDP udp;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void setup() 
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

        WiFi.begin(SSID, SSID_PW);
     
    
   

    

     

    
    

     
  while(WiFi.status() != WL_CONNECTED);
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

        ros2::init(&udp, AGENT_IP, AGENT_PORT);
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      void loop() 
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     
  static StringPub StringNode;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

        ros2::spin(&StringNode);
     
    
   

    

     

    
    

     

      }
     
    
  
 

 稳定程度感觉上一般。

更有趣的各种功能会逐步介绍的。

比如esp32 wemos版

 具体引脚：

  

   

    

     

    
    

     

      static const uint8_t TX = 1;
     
    
   

    

     

    
    

     

      static const uint8_t RX = 3;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static const uint8_t SDA = 21;
     
    
   

    

     

    
    

     

      static const uint8_t SCL = 22;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static const uint8_t SS    = 5;
     
    
   

    

     

    
    

     

      static const uint8_t MOSI  = 23;
     
    
   

    

     

    
    

     

      static const uint8_t MISO  = 19;
     
    
   

    

     

    
    

     

      static const uint8_t SCK   = 18;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static const uint8_t A0 = 36;
     
    
   

    

     

    
    

     

      static const uint8_t A3 = 39;
     
    
   

    

     

    
    

     

      static const uint8_t A4 = 32;
     
    
   

    

     

    
    

     

      static const uint8_t A5 = 33;
     
    
   

    

     

    
    

     

      static const uint8_t A6 = 34;
     
    
   

    

     

    
    

     

      static const uint8_t A7 = 35;
     
    
   

    

     

    
    

     

      static const uint8_t A10 = 4;
     
    
   

    

     

    
    

     

      static const uint8_t A11 = 0;
     
    
   

    

     

    
    

     

      static const uint8_t A12 = 2;
     
    
   

    

     

    
    

     

      static const uint8_t A13 = 15;
     
    
   

    

     

    
    

     

      static const uint8_t A14 = 13;
     
    
   

    

     

    
    

     

      static const uint8_t A15 = 12;
     
    
   

    

     

    
    

     

      static const uint8_t A16 = 14;
     
    
   

    

     

    
    

     

      static const uint8_t A17 = 27;
     
    
   

    

     

    
    

     

      static const uint8_t A18 = 25;
     
    
   

    

     

    
    

     

      static const uint8_t A19 = 26;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static const uint8_t T0 = 4;
     
    
   

    

     

    
    

     

      static const uint8_t T1 = 0;
     
    
   

    

     

    
    

     

      static const uint8_t T2 = 2;
     
    
   

    

     

    
    

     

      static const uint8_t T3 = 15;
     
    
   

    

     

    
    

     

      static const uint8_t T4 = 13;
     
    
   

    

     

    
    

     

      static const uint8_t T5 = 12;
     
    
   

    

     

    
    

     

      static const uint8_t T6 = 14;
     
    
   

    

     

    
    

     

      static const uint8_t T7 = 27;
     
    
   

    

     

    
    

     

      static const uint8_t T8 = 33;
     
    
   

    

     

    
    

     

      static const uint8_t T9 = 32;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static const uint8_t DAC1 = 25;
     
    
   

    

     

    
    

     

      static const uint8_t DAC2 = 26;
     
    
  
 

LED_BUILTIN等

  

   

    

     

    
    

     

      static const uint8_t LED_BUILTIN = 2;
     
    
   

    

     

    
    

     

      #define BUILTIN_LED LED_BUILTIN // backward compatibility
     
    
   

    

     

    
    

     

      static const uint8_t _VBAT = 35; // battery voltage
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      #define PIN_WIRE_SDA SDA // backward compatibility
     
    
   

    

     

    
    

     

      #define PIN_WIRE_SCL SCL // backward compatibility
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static const uint8_t D0   = 26;
     
    
   

    

     

    
    

     

      static const uint8_t D1   = 22;
     
    
   

    

     

    
    

     

      static const uint8_t D2   = 21;
     
    
   

    

     

    
    

     

      static const uint8_t D3   = 17;
     
    
   

    

     

    
    

     

      static const uint8_t D4   = 16;
     
    
   

    

     

    
    

     

      static const uint8_t D5   = 18;
     
    
   

    

     

    
    

     

      static const uint8_t D6   = 19;
     
    
   

    

     

    
    

     

      static const uint8_t D7   = 23;
     
    
   

    

     

    
    

     

      static const uint8_t D8   = 5;
     
    
   

    

     

    
    

     

      static const uint8_t RXD  = 3;
     
    
   

    

     

    
    

     

      static const uint8_t TXD  = 1;
     
    
  
 

与图示对应。

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/120229431