micro-ROS之esp32与ros2资料（freertos）

Posted 2021-10-06 zhangrelay

重中之重：micro.ros.org/docs/tutorials/core/overview/

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所有案例都是流畅稳定运行的。

比arduino+esp32+ros2稳定性好很多哦。

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eps32复位重联，会有节点重名现象。

 不过，rqt图正常

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源码都是开放的，稍微改一下也是非常方便的。

#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;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
	RCLC_UNUSED(last_call_time);
	if (timer != NULL) {
		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
		msg.data++;
	}
}

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

	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);

	// Static Agent IP and port can be used instead of autodisvery.
	RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));
	//RCCHECK(rmw_uros_discover_agent(rmw_options));

	// create init_options
	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

	// create node
	rcl_node_t node;
	RCCHECK(rclc_node_init_default(&node, "esp32_int32_publisher", "", &support));

	// create publisher
	RCCHECK(rclc_publisher_init_default(
		&publisher,
		&node,
		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
		"freertos_int32_publisher"));

	// create timer,
	rcl_timer_t 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;
	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
	RCCHECK(rclc_executor_add_timer(&executor, &timer));

	msg.data = 0;

	while(1){
		rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
		usleep(10000);
	}

	// free resources
	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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数值每次是加1：

msg.data++;

修改为+10；

节点名称：

RCCHECK(rclc_node_init_default(&node, "esp32_int32_publisher", "", &support));

修改一下：

RCCHECK(rclc_node_init_default(&node, "love_esp32_pub", "", &support));

主题名称：

    RCCHECK(rclc_publisher_init_default(
        &publisher,
        &node,
        ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
        "freertos_int32_publisher"));

修改一下：

love_esp32_pub

（随意修改看看效果？）

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超级稳定，测试半天，无任何丢包。

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