esp32(ROS2foxy)从字符串发布到速度发布turtlesim

直播课演示如下，从点亮一个小灯，发送字符串到发布速度指令控制turtlesim。

字符串参考：

eps32和ros2之稳稳点亮一个LED灯（IO4）_zhangrelay的专栏-CSDN博客

速度代码如下：

      #include <ros2arduino.h>
      #include <WiFi.h>
      #include <WiFiUdp.h>
      #define SSID "***"
      #define SSID_PW "***"
      #define AGENT_IP "***"
      #define AGENT_PORT 2021 //AGENT port number
      #define PUBLISH_FREQUENCY 2 //hz
      void publishVel(geometry_msgs::Twist* vel, void* arg)
      {
        (void)(arg);
       static int cnt = 0;
        vel->linear.x = 0.1+0.01*cnt;  //线速度
        vel->angular.z = 0.1+0.01*cnt; //角速度
      // vel->linear.x = ((double)rand()/(RAND_MAX)); //随机线速度
      // vel->angular.z = ((double)rand()/(RAND_MAX)); //随机角速度
      // vel->linear.x = 0.2; //固定线速度
      // vel->angular.z = 1.0 - 0.001*cnt; //变化角速度
        cnt++;
      }
      class VelPub : public ros2::Node
      {
      public:
        VelPub()
        : Node("esp32_cmdvel")
        {
          ros2::Publisher<geometry_msgs::Twist>* publisher_ = this->createPublisher<geometry_msgs::Twist>("turtle1/cmd_vel");
         this->createWallFreq(PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishVel, 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 VelPub VelNode;
        ros2::spin(&VelNode);
      }
  
 

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/120504387