ESP32與ROS除錯筆記（Linux和Windows）

ESP32支持ROS1和ROS2，很方便使用，有兩種主流方式：

• arduino IDE （1.8.13）
• esp idf（4.2）

網上和Github上有很多方式，用了一下都感覺不適合我！

其實很簡單，和esp8266類似，只用arduino自帶的ros包即可，注意版本號0.7.8，

參考如下：ESP8266和ESP32配置（需使用ROS1和ROS2）

這里，主要看原始碼需要修改的地方，頭檔案！

esp8266使用/home/ros/.arduino15/packages/esp8266/hardware/esp8266/2.7.4/libraries/ESP8266WiFi/src

• ESP8266WiFi.h

#ifndef WiFi_h
#define WiFi_h

#include <stdint.h>

extern "C" {
#include "include/wl_definitions.h"
}

#include "IPAddress.h"

#include "ESP8266WiFiType.h"
#include "ESP8266WiFiSTA.h"
#include "ESP8266WiFiAP.h"
#include "ESP8266WiFiScan.h"
#include "ESP8266WiFiGeneric.h"

#include "WiFiClient.h"
#include "WiFiServer.h"
#include "WiFiServerSecure.h"
#include "WiFiClientSecure.h"
#include "BearSSLHelpers.h"
#include "CertStoreBearSSL.h"

#ifdef DEBUG_ESP_WIFI
#ifdef DEBUG_ESP_PORT
#define DEBUG_WIFI(fmt, ...) DEBUG_ESP_PORT.printf_P( (PGM_P)PSTR(fmt), ##__VA_ARGS__ )
#endif
#endif

#ifndef DEBUG_WIFI
#define DEBUG_WIFI(...) do { (void)0; } while (0)
#endif


class ESP8266WiFiClass : public ESP8266WiFiGenericClass, public ESP8266WiFiSTAClass, public ESP8266WiFiScanClass, public ESP8266WiFiAPClass {
    public:

        // workaround same function name with different signature
        using ESP8266WiFiGenericClass::channel;

        using ESP8266WiFiSTAClass::SSID;
        using ESP8266WiFiSTAClass::RSSI;
        using ESP8266WiFiSTAClass::BSSID;
        using ESP8266WiFiSTAClass::BSSIDstr;

        using ESP8266WiFiScanClass::SSID;
        using ESP8266WiFiScanClass::encryptionType;
        using ESP8266WiFiScanClass::RSSI;
        using ESP8266WiFiScanClass::BSSID;
        using ESP8266WiFiScanClass::BSSIDstr;
        using ESP8266WiFiScanClass::channel;
        using ESP8266WiFiScanClass::isHidden;

        // ----------------------------------------------------------------------------------------------
        // ------------------------------------------- Debug --------------------------------------------
        // ----------------------------------------------------------------------------------------------

    public:

        void printDiag(Print& dest);

        friend class WiFiClient;
        friend class WiFiServer;

};

extern ESP8266WiFiClass WiFi;

#endif

esp32使用/home/ros/.arduino15/packages/esp32/hardware/esp32/1.0.4/libraries/WiFi/src

• WiFi.h

這個會和系統目錄中wifi.h重合，請務必保證編譯時頭檔案路徑正確！

#ifndef WiFi_h
#define WiFi_h

#include <stdint.h>

#include "Print.h"
#include "IPAddress.h"
#include "IPv6Address.h"

#include "WiFiType.h"
#include "WiFiSTA.h"
#include "WiFiAP.h"
#include "WiFiScan.h"
#include "WiFiGeneric.h"

#include "WiFiClient.h"
#include "WiFiServer.h"
#include "WiFiUdp.h"

class WiFiClass : public WiFiGenericClass, public WiFiSTAClass, public WiFiScanClass, public WiFiAPClass
{
public:
    using WiFiGenericClass::channel;

    using WiFiSTAClass::SSID;
    using WiFiSTAClass::RSSI;
    using WiFiSTAClass::BSSID;
    using WiFiSTAClass::BSSIDstr;

    using WiFiScanClass::SSID;
    using WiFiScanClass::encryptionType;
    using WiFiScanClass::RSSI;
    using WiFiScanClass::BSSID;
    using WiFiScanClass::BSSIDstr;
    using WiFiScanClass::channel;

public:
    void printDiag(Print& dest);
    friend class WiFiClient;
    friend class WiFiServer;
    friend class WiFiUDP;
};

extern WiFiClass WiFi;

#endif

一切正常愉快玩耍：

編譯如有問題請自行查錯修訂，測驗過代碼如下，wifi名和密碼為***，請用實際替換，UART使用如教程一致：

#include "WiFi.h"
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Float64.h>
#include <rosserial_arduino/Adc.h>

//
// WiFi Definitions //
//
const char* ssid = "********";
const char* password = "*********";

IPAddress server(172, 20, 10, 3); // ip of your ROS server
IPAddress ip_address;
int status = WL_IDLE_STATUS;

WiFiClient client;

class WiFiHardware {

  public:
  WiFiHardware() {};

  void init() {
    // do your initialization here. this probably includes TCP server/client setup
    client.connect(server, 11411);
  }

  // read a byte from the serial port. -1 = failure
  int read() {
    // implement this method so that it reads a byte from the TCP connection and returns it
    //  you may return -1 is there is an error; for example if the TCP connection is not open
    return client.read();         //will return -1 when it will works
  }

  // write data to the connection to ROS
  void write(uint8_t* data, int length) {
    // implement this so that it takes the arguments and writes or prints them to the TCP connection
    for(int i=0; i<length; i++)
      client.write(data[i]);
  }

  // returns milliseconds since start of program
  unsigned long time() {
     return millis(); // easy; did this one for you
  }
};

int i;

void chatterCallback(const std_msgs::String& msg) {
  i = atoi(msg.data);
}


std_msgs::String str_msg;
rosserial_arduino::Adc adc_msg;
ros::Publisher chatter("chatter", &str_msg);
ros::Publisher p("adc", &adc_msg);
ros::Subscriber<std_msgs::String> sub("message", &chatterCallback);
ros::NodeHandle_<WiFiHardware> nh;
char hello[20] = "ESP32 wifi alive!";


void setupWiFi()
{
  WiFi.begin(ssid, password);
  Serial.print("\nConnecting to "); Serial.println(ssid);
  uint8_t i = 0;
  while (WiFi.status() != WL_CONNECTED && i++ < 20) delay(500);
  if(i == 21){
    Serial.print("Could not connect to"); Serial.println(ssid);
    while(1) delay(500);
  }
  Serial.print("Ready! Use ");
  Serial.print(WiFi.localIP());
  Serial.println(" to access client");
}

int averageAnalog(int pin){
  int v=0;
  for(int i=0; i<4; i++) v+= analogRead(pin);
  return v/4;
}

void setup() {
  Serial.begin(115200);
  setupWiFi();
  delay(2000);
  nh.initNode();
  nh.advertise(chatter);
  nh.subscribe(sub);
  nh.advertise(p);
}

void loop() {
  str_msg.data = hello;
  chatter.publish( &str_msg );
  adc_msg.adc0 = averageAnalog(0);
  p.publish(&adc_msg);
  nh.spinOnce();
  delay(500);
}

主機端配置對應IP，

rosrun rosserial_python serial_node.py tcp

連接成功！！！

查看一下主題？

很愉快，一次成功，沒有遇到什么奇怪的問題，和8266幾乎一致，但是esp32性能強于8266，

windows環境下測驗：

先看IP是否匹配，注意UART看串口號，wifi看IP，一定要正確才可以！

接著，直接用可以使用了，

然后啟動，tcp節點：

rosrun rosserial_server socket_node tcp

查看一下：

注意，如果配置不正確，無法看到/adc，/chatter，/message等主題哦，

支持ros版本（melodic，neotic），系統版本（linux，windows），已全部測驗均可以，

C:\ros_ws>set ROS_IP=172.20.10.3                                                                                                                            C:\ros_ws>set ROS_MASTER_URI=http://172.20.10.3:11311                                                                                                       C:\ros_ws>roscore                                                             ... logging to C:\Users\zhangrelay\.ros\log\56128ade-1a25-11eb-9f50-94b86dd78b23\roslaunch-LAPTOP-5REQ7K1L-10872.log                                        Checking log directory for disk usage. This may take a while.                 Press Ctrl-C to interrupt                                                     Done checking log file disk usage. Usage is <1GB.                             started roslaunch server http://172.20.10.3:60658/                            ros_comm version 1.14.9                                                                                                                                                                                                                   SUMMARY                                                                       ========                                                                                                                                                    PARAMETERS                                                                     * /rosdistro: melodic                                                         * /rosversion: 1.14.9                                                                                                                                      NODES                                                                                                                                                       auto-starting new master                                                      process[master]: started with pid [12060]                                     ROS_MASTER_URI=http://172.20.10.3:11311/                                      setting /run_id to 56128ade-1a25-11eb-9f50-94b86dd78b23                       process[rosout-1]: started with pid [13192]                                   started core service [/rosout]                                                                                 

-fin-