micro-ROS之esp32与ros2发布pub与接收sub

Posted 2021-10-06 zhangrelay

先看源码

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#include <string.h>
#include <stdio.h>
#include <unistd.h>

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "esp_system.h"

#include <uros_network_interfaces.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <std_msgs/msg/int32.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <rmw_microros/rmw_microros.h>
#include "uxr/client/config.h"

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\\n",__LINE__,(int)temp_rc);}}

rcl_publisher_t publisher;
rcl_subscription_t subscriber;
std_msgs__msg__Int32 send_msg;
std_msgs__msg__Int32 recv_msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
	(void) last_call_time;
	if (timer != NULL) {
		RCSOFTCHECK(rcl_publish(&publisher, &send_msg, NULL));
		printf("Sent: %d\\n", send_msg.data);
		send_msg.data++;
	}
}

void subscription_callback(const void * msgin)
{
	const std_msgs__msg__Int32 * msg = (const std_msgs__msg__Int32 *)msgin;
	printf("Received: %d\\n", msg->data);
}

void micro_ros_task(void * arg)
{
	rcl_allocator_t allocator = rcl_get_default_allocator();
	rclc_support_t support;

	// Create init_options.
	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
	RCCHECK(rcl_init_options_init(&init_options, allocator));
	rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
	// Use static agent IP and port.
	RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));

	// Setup support structure.
	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

	// Create node.
	rcl_node_t node = rcl_get_zero_initialized_node();
	RCCHECK(rclc_node_init_default(&node, "esp32_int32_publisher_subscriber_rclc", "", &support));

	// Create publisher.
	RCCHECK(rclc_publisher_init_default(
		&publisher,
		&node,
		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
		"esp32_int32_publisher"));

	// Create subscriber.
	RCCHECK(rclc_subscription_init_default(
		&subscriber,
		&node,
		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
		"esp32_int32_subscriber"));

	// Create timer.
	rcl_timer_t timer = rcl_get_zero_initialized_timer();
	const unsigned int timer_timeout = 1000;
	RCCHECK(rclc_timer_init_default(
		&timer,
		&support,
		RCL_MS_TO_NS(timer_timeout),
		timer_callback));

	// Create executor.
	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
	RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator));
	unsigned int rcl_wait_timeout = 1000;   // in ms
	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));

	// Add timer and subscriber to executor.
	RCCHECK(rclc_executor_add_timer(&executor, &timer));
	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &recv_msg, &subscription_callback, ON_NEW_DATA));

	// Spin forever.
	send_msg.data = 0;
	while(1){
		rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
		usleep(100000);
	}

	// Free resources.
	RCCHECK(rcl_subscription_fini(&subscriber, &node));
	RCCHECK(rcl_publisher_fini(&publisher, &node));
	RCCHECK(rcl_node_fini(&node));

  	vTaskDelete(NULL);
}

void app_main(void)
{
#ifdef UCLIENT_PROFILE_UDP
    // Start the networking if required
    ESP_ERROR_CHECK(uros_network_interface_initialize());
#endif  // UCLIENT_PROFILE_UDP

    //pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
    xTaskCreate(micro_ros_task,
            "uros_task",
            CONFIG_MICRO_ROS_APP_STACK,
            NULL,
            CONFIG_MICRO_ROS_APP_TASK_PRIO,
            NULL);
}

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代码做稳定性测试，目前就是觉得节点好像不能自动注销呢。

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 看这个红红！

这是一个节点，既有收又能发。

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