环境:Ubuntu16.04+ROS Kinetic
硬件:
Arduino mega2560(需拥有两个串口)
总线舵机(可采用dynamixel舵机,其带有ROS的功能包dynamixel_controllersTutorials)
前期准备:
- 完成MoveIt!配置
- 完成机器人在ROS平台的搭建
一、配置rosserial_arduino
1、安装环境
sudo apt-get install ros-kinetic-rosserial-arduino sudo apt-get install ros-kinetic-rosserial
2、配置ros_lib(sketchbook为Arduino功能包位置)
cd <sketchbook>/libraries rm -rf ros_lib rosrun rosserial_arduino make_libraries.py .
3、检查环境
提示:Window 环境的话,可以在Linux环境下配置好环境后将ros_lib文件夹提取到 Window 环境下并导入到Arduino
二、程序实现
发布器初始化方式
ros::Publisher _pub("/topic", &_msg); nh.advertise(_pub);
订阅器初始化方式
void messageCb( const std_msgs::Int16MultiArray& _msg) {} ros::Subscriber<std_msgs::Int16MultiArray> sub("robot_hand_control", &messageCb ); nh.subscribe(sub);
完整代码
#include <FlexiTimer2.h> #include <SCServo.h> #include <SCSProtocol.h> #include <ros.h> #include <ArduinoHardware.h> #include <std_msgs/MultiArrayLayout.h> #include <std_msgs/MultiArrayDimension.h> #include <std_msgs/Int16MultiArray.h> ///////////////////////////////////ROS初始化///////////////////////////////// ros::NodeHandle nh; ///////////////////////////////////ROS订阅器///////////////////////////////// int* Joint; int MultiArray_length; int count_length; bool messageCb_judge,release_subCb_judge; void messageCb( const std_msgs::Int16MultiArray& pos_msg) { MultiArray_length=((pos_msg.data_length)/6); Joint[(pos_msg.data_length)]; count_length=MultiArray_length; Joint=pos_msg.data; //start send angle FlexiTimer2::set(650, Data_send); FlexiTimer2::start(); } ros::Subscriber<std_msgs::Int16MultiArray> sub("robot_hand_control", &messageCb ); ///////////////////////总线舵机控制///////////////////////////////// SCServo smServo; SCServo scsServo; ///////////////////////////////舵机参数////////////////////////////// #define J1_Angle_Init 0 #define J1_Min_Angle_Limit 10 #define J1_Max_Angle_Limit 1013 #define J2_Angle_Init 0 #define J2_Min_Angle_Limit 10 #define J2_Max_Angle_Limit 4090 #define J3_Angle_Init 0 #define J3_Min_Angle_Limit 10 #define J3_Max_Angle_Limit 4090 #define J4_Angle_Init 0 #define J4_Min_Angle_Limit 10 #define J4_Max_Angle_Limit 4090 #define J5_Angle_Init 0 #define J5_Min_Angle_Limit 10 #define J5_Max_Angle_Limit 1013 #define J6_Angle_Init 0 #define J6_Min_Angle_Limit 10 #define J6_Max_Angle_Limit 1013 //////////////////////////////总线舵机中断函数///////////////////////// int t = 600; int count = 0; void Data_send() { if(count<count_length) { messageCb_judge = true; } else { count=0; MultiArray_length=0; FlexiTimer2::stop(); } } ///////////////////////主函数///////////////////////////////// void setup() { ///////////////////////ROS初始化///////////////////////////////// nh.initNode(); nh.subscribe(sub); ///////////////////////总线舵机初始化///////////////////////////////// scsServo.End = 1; smServo.End = 0; Serial2.begin(1000000); scsServo.pSerial = &Serial2; smServo.pSerial = &Serial2; delay(1000); messageCb_judge = false; ///////////////////////总线舵机角度初始化///////////////////////////////// scsServo.EnableTorque(1, 1); smServo.EnableTorque(2, 1); smServo.EnableTorque(3, 1); smServo.EnableTorque(4, 1); scsServo.EnableTorque(5, 1); scsServo.EnableTorque(6, 1); scsServo.WritePos(1, J1_Angle_Init, 1000); smServo.WritePos(2, J2_Angle_Init, 1000); smServo.WritePos(3, J3_Angle_Init, 1000); smServo.WritePos(4, J4_Angle_Init, 1000); scsServo.WritePos(5, J5_Angle_Init, 1000); scsServo.WritePos(6, J6_Angle_Init, 1000); } void loop() { if(messageCb_judge) { scsServo.WritePos(1,J1_Angle_Init- Joint[count*6+0], t); smServo.WritePos(2, J2_Angle_Init-Joint[count*6+1], t); smServo.WritePos(3, J3_Angle_Init+Joint[count*6+2], t); smServo.WritePos(4, J4_Angle_Init-Joint[count*6+3], t); scsServo.WritePos(5, J5_Angle_Init-Joint[count*6+4], t); scsServo.WritePos(6, J6_Angle_Init-Joint[count*6+5], t); play(1,Joint[count*6+0]); play(2,Joint[count*6+1]); play(3,Joint[count*6+2]); play(4,Joint[count*6+3]); play(5,Joint[count*6+4]); play(6,Joint[count*6+5]); count++; messageCb_judge = false; } nh.spinOnce(); }