ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
ros2_stm32_bridge package from ros2_stm32_bridge reporos2_stm32_bridge |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | 为stm32底盘设计的ROS2驱动程序。 |
| Checkout URI | https://github.com/damuxt/ros2_stm32_bridge.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-09-24 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- ros2
Authors
No additional authors.
ros2_stm32_bridge
适配以stm32为主控的两轮或四轮差速底盘的ROS2驱动。
使用准备
1.硬件准备
通过USB数据线将机器人底盘连接到上位机，并打开底盘开关。上位机终端下执行指令：
ll /dev/ttyUSB*
如正常，将输出类似如下的结果：
crw-rw---- 1 root dialout 166, 0 4月 27 20:15 /dev/ttyUSB0
PS：如果物理连接无异常，Ubuntu系统显示无法访问 ‘/dev/ttyUSB‘: 没有那个文件或目录，那么可能是brltty驱动占用导致的，可以运行sudo apt remove brltty 然后重新插拔一下设备即可解决问题。
2.软件安装
将此软件包下载到你的ROS2工作空间下的src目录。
3.环境配置
3.1端口映射
终端下进入ros2_stm32_bridge/scripts,并执行指令：
bash create_udev_rules.sh
该指令将为STM32端口绑定一个固定名称，重新将底盘与上位机连接，执行如下指令：
ll /dev | grep -i ttyUSB
如正常，将输出类似如下的结果：
lrwxrwxrwx 1 root root 7 4月 27 20:16 mycar -> ttyUSB0
crwxrwxrwx 1 root dialout 166, 0 4月 27 20:16 ttyUSB0
3.2设置车辆类型
修改上位机用户目录下的 .bashrc 文件，在该文件中设置车辆类型，如果你使用的是两轮差速底盘，则添加如下语句：
export MYCAR_MODEL=stm32_2w
如果你使用的是四轮差速底盘，则添加如下语句：
export MYCAR_MODEL=stm32_4w
4.构建功能包
工作空间下调用如下指令，构建功能包：
colcon build --packages-select ros2_stm32_bridge
使用流程
1.配置参数
在功能包下提供了机器人底盘相关参数的配置文件ros2_stm32_bridge/params，stm32_2w.yaml为两轮差速底盘的配置文件,stm32_4w.yaml为四轮差速底盘的配置文件，参数内容可以自行修改（如果是初次使用，建议使用默认）。
stm32_2w.yaml的文件内容如下：
/mini_driver:
ros__parameters:
base_frame: base_footprint
baud_rate: 115200
control_rate: 10
encoder_resolution: 44.0
kd: 30
ki: 0
kp: 25
maximum_encoding: 100.0
model_param_acw: 0.21
model_param_cw: 0.21
odom_frame: odom
port_name: /dev/mycar
qos_overrides:
/parameter_events:
publisher:
depth: 1000
durability: volatile
history: keep_last
reliability: reliable
/tf:
publisher:
depth: 100
durability: volatile
history: keep_last
reliability: reliable
reduction_ratio: 90.0
use_sim_time: false
wheel_diameter: 0.065
stm32_4w.yaml的文件内容如下：
/mini_driver:
ros__parameters:
base_frame: base_footprint
baud_rate: 115200
control_rate: 10
encoder_resolution: 44.0
kd: 30
ki: 0
kp: 25
maximum_encoding: 100.0
model_param_acw: 0.45
model_param_cw: 0.45
odom_frame: odom
port_name: /dev/mycar
qos_overrides:
/parameter_events:
publisher:
depth: 1000
durability: volatile
history: keep_last
reliability: reliable
/tf:
publisher:
depth: 100
durability: volatile
history: keep_last
reliability: reliable
reduction_ratio: 90.0
use_sim_time: false
wheel_diameter: 0.080
2.启动launch文件
工作空间下，调用如下指令启动launch文件：
. install/setup.bash
ros2 launch ros2_stm32_bridge driver.launch.py
3.控制底盘运动
上位机上，启动键盘控制节点：
ros2 run teleop_twist_keyboard teleop_twist_keyboard
接下来，就可以通过键盘控制机器人运动了。
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| std_msgs | |
| sensor_msgs | |
| nav_msgs | |
| geometry_msgs | |
| tf2 | |
| tf2_ros |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ros2_stm32_bridge at Robotics Stack Exchange
No questions yet, you can ask one here.
Failed to get question list, you can ticket an issue here
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.