esp32➡遥控篇➡turtlesim➡mobot➡turtlebot3
【摘要】
turtle1/cmd_velmobot/cmd_velcmd_vel
代码如下：
#include <ros2arduino.h> #include <WiFi.h>#include <WiFiUdp.h>#include <WiFiClient.h> #defin...
- turtle1/cmd_vel
- mobot/cmd_vel
- cmd_vel
代码如下：
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#include <ros2arduino.h>
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#include <WiFi.h>
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#include <WiFiUdp.h>
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#include <WiFiClient.h>
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#define SSID "***"
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#define SSID_PW "***"
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#define AGENT_IP "***"
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#define AGENT_PORT *** //AGENT port number
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#define LED 4
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#define PUBLISH_FREQUENCY 2 //hz
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char velflag=0;
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void publishVel(geometry_msgs::Twist* vel, void* arg)
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{
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(void)(arg);
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static int cnt = 0;
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if(velflag==0){
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vel->linear.x = 0; //线速度
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vel->angular.z = 0; //角速度
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}
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else if(velflag==1)
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{
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vel->linear.x = 1; //线速度
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vel->angular.z = 0; //角速度
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}
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else if(velflag==3)
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{
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vel->linear.x = -1; //线速度
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vel->angular.z = 0; //角速度
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}
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else if(velflag==2)
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{
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vel->linear.x = 0; //线速度
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vel->angular.z = 1; //角速度
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}
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else if(velflag==4)
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{
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vel->linear.x = 0; //线速度
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vel->angular.z = -1; //角速度
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}
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cnt++;
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}
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class VelPub : public ros2::Node
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{
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public:
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VelPub()
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: Node("esp32_cmdvel")
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{
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ros2::Publisher<geometry_msgs::Twist>* publisher_ = this->createPublisher<geometry_msgs::Twist>("cmd_vel");
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this->createWallFreq(PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishVel, nullptr, publisher_);
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}
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};
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WiFiUDP udp;
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WiFiServer server(80);
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void setup()
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{
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pinMode(LED, OUTPUT);
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WiFi.begin(SSID, SSID_PW);
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while(WiFi.status() != WL_CONNECTED);
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server.begin();
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ros2::init(&udp, AGENT_IP, AGENT_PORT);
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}
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void loop()
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{
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static VelPub VelNode;
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ros2::spin(&VelNode);
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WiFiClient client = server.available(); // listen for incoming clients
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if (client) { // if you get a client,
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String currentLine = ""; // make a String to hold incoming data from the client
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while (client.connected()) { // loop while the client's connected
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if (client.available()) { // if there's bytes to read from the client,
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char c = client.read(); // read a byte, then
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if (c == '\n') { // if the byte is a newline character
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// if the current line is blank, you got two newline characters in a row.
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// that's the end of the client HTTP request, so send a response:
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if (currentLine.length() == 0) {
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// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
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// and a content-type so the client knows what's coming, then a blank line:
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client.println("HTTP/1.1 200 OK");
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client.println("Content-type:text/html");
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client.println();
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// the content of the HTTP response follows the header:
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client.print("Click <a href=\"/F\">here</a> to let the robot move forward. <br>");
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client.print("Click <a href=\"/B\">here</a> to let the robot move backward. <br>");
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client.print("Click <a href=\"/L\">here</a> to let the robot turn left. <br>");
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client.print("Click <a href=\"/R\">here</a> to let the robot turn right. <br>");
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client.print("Click <a href=\"/S\">here</a> to let the robot stop. <br>");
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// The HTTP response ends with another blank line:
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client.println();
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// break out of the while loop:
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break;
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} else { // if you got a newline, then clear currentLine:
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currentLine = "";
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}
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} else if (c != '\r') { // if you got anything else but a carriage return character,
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currentLine += c; // add it to the end of the currentLine
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}
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// Check to see if the client request was "GET /H" or "GET /L":
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if (currentLine.endsWith("GET /F")) {
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digitalWrite(LED, HIGH); // GET /H turns the LED on
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velflag=1;
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}
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if (currentLine.endsWith("GET /B")) {
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digitalWrite(LED, HIGH); // GET /L turns the LED off
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velflag=3;
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}
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if (currentLine.endsWith("GET /L")) {
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digitalWrite(LED, HIGH); // GET /H turns the LED on
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velflag=2;
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}
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if (currentLine.endsWith("GET /R")) {
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digitalWrite(LED, HIGH); // GET /L turns the LED off
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velflag=4;
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}
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if (currentLine.endsWith("GET /S")) {
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digitalWrite(LED, LOW); // GET /H turns the LED on
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velflag=0;
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}
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}
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}
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// close the connection:
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client.stop();
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}
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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/120538455
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