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Repository Summary
| Description | 对ros_arduino_bridge的上位机部分内容做的修改，用以适配ROS2。 |
| Checkout URI | https://github.com/damuxt/ros2_arduino_bridge.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-07-21 |
| 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) |
Packages
| Name | Version |
|---|---|
| ros2_arduino_bridge | 0.0.0 |
README
ros2_arduino_bridge
对ROS1中的ros_arduino_bridge的上位机内容做了修改，以适配ROS2。
- 请先按照ros_arduino_bridge的下位机内容设计完毕了小车底盘。 小车底盘设计课程资料：https://www.bilibili.com/video/BV1Ub4y1a7PH/
- 请确保上位机已经安装了ROS2机器人操作系统。
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/ttyACM*
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/ttyACM0
PS：如果物理连接无异常，Ubuntu系统显示无法访问 ‘/dev/ttyACM‘: 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.系统准备
ros2_arduino_bridge是依赖于python-serial功能包的，请先在上位机安装该功能包，安装命令:
sudo pip install --upgrade pyserial
3.软件安装
将此软件包下载到你的ROS2工作空间下的src目录。
4.环境配置
终端下进入ros2_arduino_bridge/scripts,并执行指令：
bash create_udev_rules.sh
该指令将为Arduino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 ttyACM
如正常，将输出类似如下的结果：
lrwxrwxrwx 1 root root 7 4月 27 20:16 myarduino -> ttyACM0
crwxrwxrwx 1 root dialout 166, 0 4月 27 20:16 ttyACM0
5.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_arduino_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_arduino_bridge/params，参数内容可以自行修改（如果是初次使用，建议使用默认），该文件内容如下：
/ros2_arduino_node:
ros__parameters:
# pid 参数
Kd: 45
Ki: 0
Ko: 50
Kp: 8
accel_limit: 0.5 # 加速限制
base_controller_rate: 10
base_controller_timeout: 1.0
base_frame: base_footprint #基坐标系
baud: 57600 # 波特率
encoder_resolution: 3960
gear_reduction: 1
motors_reversed: false
port: /dev/myarduino # Arduino端口
rate: 50
timeout: 0.5
use_sim_time: false
wheel_diameter: 0.065 # 轮胎直径
wheel_track: 0.21 # 轮间距
max_vel_x: 0.18 # 最大线速度
min_vel_x: -0.18 # 最小线速度
max_vel_th: 0.8 # 最大角速度
min_vel_th: -0.8 # 最小角速度
2.启动launch文件
工作空间下，调用如下指令启动launch文件：
ros2 launch ros2_arduino_bridge ros2_arduino.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。
CONTRIBUTING
No CONTRIBUTING.md found.
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