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