micro-ROS之esp32与ros2资料（freertos）

案头见蠹鱼，犹胜凡俦侣。这篇文章主要讲述micro-ROS之esp32与ros2资料（freertos）相关的知识，希望能为你提供帮助。

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

所有案例都是流畅稳定运行的。
比arduino+esp32+ros2稳定性好很多哦。

eps32复位重联，会有节点重名现象。

文章图片

不过，rqt图正常

文章图片

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 = https://www.songbingjia.com/android/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);
}