esp32发布机器人电池电压到ros2（micro-ros+CoCube）

esp32发布机器人电池电压到ros2（micro-ros+CoCube）

示例程序测试端口ad数值：

#include "Arduino.h"#include ESP32AnalogRead adc;void setup(){ adc.attach(34); Serial.begin(115200);}void loop(){ delay(50); Serial.println("Voltage = "+String(adc.readVoltage()));}

这只是一个简单测试ad口电压的程序，没有滤波，没有依据实际进行数值变换。

34是测量电压端口。

初始化，ad和串口波特率：

void setup(){ adc.attach(34); Serial.begin(115200);}

循环测电压并输出串口，时延50ms：

void loop(){ delay(50); Serial.println("Voltage = "+String(adc.readVoltage()));}

这是单片机简单测电压的程序。

需要补充滤波和标度变换。留作思考题。

效果如下图：

micro-ros发布一个消息案例如下：

#include #include #include #include #include #include #include #if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module#endifrcl_publisher_t publisher;std_msgs__msg__Int32 msg;rclc_support_t support;rcl_allocator_t allocator;rcl_node_t node;#define LED_PIN 13#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}void error_loop(){ while(1){ digitalWrite(LED_PIN, !digitalRead(LED_PIN)); delay(100); }}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 setup() { set_microros_wifi_transports("***", "***", "***", 8888); pinMode(LED_PIN, OUTPUT); digitalWrite(LED_PIN, HIGH); delay(2000); allocator = rcl_get_default_allocator(); //create init_options RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); // create node RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_wifi_node", "", &support)); // create publisher RCCHECK(rclc_publisher_init_best_effort( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "topic_name")); msg.data = 0;}void loop() { RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); msg.data++;}

需要修改哪些代码？

ROS1/2中的数据类型如下：

ROS Message Types Bool Byte ByteMultiArray Char ColorRGBA Duration Empty Float32 Float32MultiArray Float64 Float64MultiArray Header Int16 Int16MultiArray Int32 Int32MultiArray Int64 Int64MultiArray Int8 Int8MultiArray MultiArrayDimension MultiArrayLayout String Time UInt16 UInt16MultiArray UInt32 UInt32MultiArray UInt64 UInt64MultiArray UInt8 UInt8MultiArray

battery电池，电压情况：

高>4.1v为插入usb口，低为电池供电。

需要启动agent：

参考程序如下：

#include #include #include #include #include #include #include #if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module#endif#define BAT_DET 34rcl_publisher_t publisher;std_msgs__msg__Float32 msg;rclc_support_t support;rcl_allocator_t allocator;rcl_node_t node;#define LED_PIN 13#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}void error_loop(){ while(1){ digitalWrite(LED_PIN, !digitalRead(LED_PIN)); delay(100); }}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 setup() { set_microros_wifi_transports("***", "***", "***", 8888); pinMode(BAT_DET, INPUT); pinMode(LED_PIN, OUTPUT); digitalWrite(LED_PIN, HIGH); delay(2000); allocator = rcl_get_default_allocator(); //create init_options RCCHECK(rclc_support_init(&support, 0, NULL, &allocator)); // create node RCCHECK(rclc_node_init_default(&node, "robot_battery_wifi_node", "", &support)); // create publisher RCCHECK(rclc_publisher_init_best_effort( &publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32), "robot_battery")); msg.data = 0.66;}void loop() { float battery = 4.21 * analogRead(BAT_DET) / 2435; RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL)); msg.data=battery; delay(1000);}

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