ESP32代码烧录

安装arduino+esp32环境

https://blog.csdn.net/Marchtwentytwo/article/details/130260756

这篇文章推荐甚至是乐鑫官方在官网挂的链接

esp32库我试过2.0.3和2.0.14都可以，3.x没试过，2.0.2没有esp32s3
安装micro_ros_arduino库

在release中找到你的ros版本，比如我是Ubuntu22.04+ros2 humble，那就安装micro_ros_arduino v2.0.8-humble

下载zip压缩包，在arduino中选择项目->导入库->添加.zip库，选中下载的压缩包
在工具中选择你的开发板和端口号，烧录代码即可

如果使用你是esp32s3选择esp32s3 dev moudle一定会遇到这个报错

解决办法是把C:\Users\{你的用户名}\Documents\Arduino\libraries\micro_ros_arduino\src\esp32这个文件复制一份放在同级目录下重命名为esp32s3，如此神奇但就是有效，我搜issue能看到有人为此合并了一些pr，但不是所有分支版本都修复了这个问题

下面是一份使用GPIO4 5 6 7四个针脚，监听话题esp32_pwm/gpio4、esp32_pwm/gpio5、esp32_pwm/gpio6、esp32_pwm/gpio7四个话题中的std_msgs/msg/float32数据，0.0-1.0代表占空比从0%到100%

值得注意的是，这份代码设置了const size_t ROS_DOMAIN_ID = 99;

使用时需要export ROS_DOMAIN_ID =99才能正确订阅到话题

如果你不设置这个，需要把代码里面的改成const size_t ROS_DOMAIN_ID = 0;

#include <Arduino.h>
#include <micro_ros_arduino.h>

#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <rmw_microros/rmw_microros.h>

#include <std_msgs/msg/float32.h>

#include <esp_arduino_version.h>

// ===================== PWM 参数 =====================
#define PWM_FREQ        50	      // PWM 频率，单位 Hz
#define PWM_RES_BITS    12        // PWM 分辨率，12 bit: 0~4095

const uint8_t PWM_PINS[4] = {
  4,   // CH0
  5,   // CH1
  6,   // CH2
  7    // CH3
};

const uint32_t PWM_MAX_DUTY = (1 << PWM_RES_BITS) - 1;

// 如果你用的是 Arduino-ESP32 2.x，需要用 channel 方式
#if ESP_ARDUINO_VERSION_MAJOR < 3
const uint8_t PWM_CHANNELS[4] = {0, 1, 2, 3};
#endif

const size_t ROS_DOMAIN_ID = 99;

// ===================== micro-ROS 对象 =====================
rcl_node_t node;
rclc_support_t support;
rcl_allocator_t allocator;
rclc_executor_t executor;

rcl_subscription_t sub_ch0;
rcl_subscription_t sub_ch1;
rcl_subscription_t sub_ch2;
rcl_subscription_t sub_ch3;

std_msgs__msg__Float32 msg_ch0;
std_msgs__msg__Float32 msg_ch1;
std_msgs__msg__Float32 msg_ch2;
std_msgs__msg__Float32 msg_ch3;

enum AgentState {
  WAITING_AGENT,
  AGENT_AVAILABLE,
  AGENT_CONNECTED,
  AGENT_DISCONNECTED
};

AgentState agent_state = WAITING_AGENT;
bool ros_entities_created = false;

// ===================== 错误检查 =====================
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) { error_loop(); } }
#define RCCHECK_BOOL(fn) { rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) { return false; } }
#define RCSOFTCHECK(fn) { (void)(fn); }
#define EXECUTE_EVERY_N_MS(MS, X) do { \
  static int64_t init = -1; \
  if (init == -1) { \
    init = uxr_millis(); \
  } \
  if (uxr_millis() - init >= (MS)) { \
    X; \
    init = uxr_millis(); \
  } \
} while (0)

void error_loop()
{
  while (1) {
#ifdef LED_BUILTIN
    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
#endif
    delay(100);
  }
}

// ===================== PWM 输出封装 =====================
float clamp01(float x)
{
  if (x < 0.0f) return 0.0f;
  if (x > 1.0f) return 1.0f;
  return x;
}

void pwm_attach(uint8_t index)
{
#if ESP_ARDUINO_VERSION_MAJOR >= 3
  bool ok = ledcAttach(PWM_PINS[index], PWM_FREQ, PWM_RES_BITS);
  if (!ok) {
    error_loop();
  }
#else
  ledcSetup(PWM_CHANNELS[index], PWM_FREQ, PWM_RES_BITS);
  ledcAttachPin(PWM_PINS[index], PWM_CHANNELS[index]);
#endif
}

void pwm_write(uint8_t index, float duty_ratio)
{
  duty_ratio = clamp01(duty_ratio);
  uint32_t duty = (uint32_t)(duty_ratio * PWM_MAX_DUTY + 0.5f);

#if ESP_ARDUINO_VERSION_MAJOR >= 3
  ledcWrite(PWM_PINS[index], duty);
#else
  ledcWrite(PWM_CHANNELS[index], duty);
#endif
}

// ===================== ROS2 订阅回调 =====================
void ch0_callback(const void * msgin)
{
  const std_msgs__msg__Float32 * msg = (const std_msgs__msg__Float32 *)msgin;
  pwm_write(0, msg->data);
}

void ch1_callback(const void * msgin)
{
  const std_msgs__msg__Float32 * msg = (const std_msgs__msg__Float32 *)msgin;
  pwm_write(1, msg->data);
}

void ch2_callback(const void * msgin)
{
  const std_msgs__msg__Float32 * msg = (const std_msgs__msg__Float32 *)msgin;
  pwm_write(2, msg->data);
}

void ch3_callback(const void * msgin)
{
  const std_msgs__msg__Float32 * msg = (const std_msgs__msg__Float32 *)msgin;
  pwm_write(3, msg->data);
}

bool create_ros_entities()
{
  allocator = rcl_get_default_allocator();

  support = rclc_support_t();
  node = rcl_node_t();
  executor = rclc_executor_get_zero_initialized_executor();
  sub_ch0 = rcl_subscription_t();
  sub_ch1 = rcl_subscription_t();
  sub_ch2 = rcl_subscription_t();
  sub_ch3 = rcl_subscription_t();

  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
  if (rcl_init_options_init(&init_options, allocator) != RCL_RET_OK) {
    return false;
  }
  if (rcl_init_options_set_domain_id(&init_options, ROS_DOMAIN_ID) != RCL_RET_OK) {
    RCSOFTCHECK(rcl_init_options_fini(&init_options));
    return false;
  }
  if (rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator) != RCL_RET_OK) {
    RCSOFTCHECK(rcl_init_options_fini(&init_options));
    return false;
  }
  RCSOFTCHECK(rcl_init_options_fini(&init_options));
  ros_entities_created = true;

  rmw_context_t * rmw_context = rcl_context_get_rmw_context(&support.context);
  RCSOFTCHECK(rmw_uros_set_context_entity_creation_session_timeout(rmw_context, 1000));

  RCCHECK_BOOL(rclc_node_init_default(
    &node,
    "esp32_pwm4_node",
    "",
    &support
  ));

  RCCHECK_BOOL(rclc_subscription_init_default(
    &sub_ch0,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "esp32_pwm/gpio4"
  ));

  RCCHECK_BOOL(rclc_subscription_init_default(
    &sub_ch1,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "esp32_pwm/gpio5"
  ));

  RCCHECK_BOOL(rclc_subscription_init_default(
    &sub_ch2,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "esp32_pwm/gpio6"
  ));

  RCCHECK_BOOL(rclc_subscription_init_default(
    &sub_ch3,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "esp32_pwm/gpio7"
  ));

  RCCHECK_BOOL(rclc_executor_init(
    &executor,
    &support.context,
    4,
    &allocator
  ));

  RCCHECK_BOOL(rclc_executor_add_subscription(
    &executor,
    &sub_ch0,
    &msg_ch0,
    &ch0_callback,
    ON_NEW_DATA
  ));

  RCCHECK_BOOL(rclc_executor_add_subscription(
    &executor,
    &sub_ch1,
    &msg_ch1,
    &ch1_callback,
    ON_NEW_DATA
  ));

  RCCHECK_BOOL(rclc_executor_add_subscription(
    &executor,
    &sub_ch2,
    &msg_ch2,
    &ch2_callback,
    ON_NEW_DATA
  ));

  RCCHECK_BOOL(rclc_executor_add_subscription(
    &executor,
    &sub_ch3,
    &msg_ch3,
    &ch3_callback,
    ON_NEW_DATA
  ));

  return true;
}

void destroy_ros_entities()
{
  if (!ros_entities_created) {
    return;
  }

  rmw_context_t * rmw_context = rcl_context_get_rmw_context(&support.context);
  RCSOFTCHECK(rmw_uros_set_context_entity_destroy_session_timeout(rmw_context, 0));

  RCSOFTCHECK(rclc_executor_fini(&executor));
  RCSOFTCHECK(rcl_subscription_fini(&sub_ch3, &node));
  RCSOFTCHECK(rcl_subscription_fini(&sub_ch2, &node));
  RCSOFTCHECK(rcl_subscription_fini(&sub_ch1, &node));
  RCSOFTCHECK(rcl_subscription_fini(&sub_ch0, &node));
  RCSOFTCHECK(rcl_node_fini(&node));
  RCSOFTCHECK(rclc_support_fini(&support));

  ros_entities_created = false;
}

// ===================== Arduino setup =====================
void setup()
{
#ifdef LED_BUILTIN
  pinMode(LED_BUILTIN, OUTPUT);
#endif

  Serial.begin(115200);

  // 使用 USB 串口作为 micro-ROS 通信
  set_microros_transports();

  delay(2000);

  // 初始化 4 路 PWM
  for (int i = 0; i < 4; i++) {
    pwm_attach(i);
    pwm_write(i, 0.0f);
  }
  // The loop state machine waits for and reconnects to the Agent.
  agent_state = WAITING_AGENT;
}

// ===================== Arduino loop =====================
void loop()
{
  // Handle Agent reconnects and ROS messages.
  switch (agent_state) {
    case WAITING_AGENT:
      EXECUTE_EVERY_N_MS(500, {
        agent_state = (rmw_uros_ping_agent(100, 1) == RMW_RET_OK) ? AGENT_AVAILABLE : WAITING_AGENT;
      });
      break;

    case AGENT_AVAILABLE:
      if (create_ros_entities()) {
        agent_state = AGENT_CONNECTED;
      } else {
        destroy_ros_entities();
        agent_state = WAITING_AGENT;
      }
      break;

    case AGENT_CONNECTED:
      EXECUTE_EVERY_N_MS(200, {
        agent_state = (rmw_uros_ping_agent(100, 1) == RMW_RET_OK) ? AGENT_CONNECTED : AGENT_DISCONNECTED;
      });

      if (agent_state == AGENT_CONNECTED) {
        RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10)));
      }
      break;

    case AGENT_DISCONNECTED:
      destroy_ros_entities();
      for (int i = 0; i < 4; i++) {
        pwm_write(i, 0.0f);
      }
      agent_state = WAITING_AGENT;
      break;
  }

  delay(1);
}

此代码ai含量99%

Ubuntu22.04运行micro_ros_agent节点

参考教程

安装ROS2-Humble

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

1 2	sudo apt update sudo apt upgrade

1	sudo apt install ros-humble-desktop

写入.bashrc

1	source /opt/ros/humble/setup.bash

无法自动补全的话就把下面两行写入.bashrc
1
2
eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"

下载micro_ros_agent

sudo apt-get install -y build-essential
mkdir -p ~/microros_ws/src
cd ~/microros_ws/src
git clone https://gitee.com/magicedge/micro-ROS-Agent.git  -b humble
git clone https://gitee.com/magicedge/micro_ros_msgs.git -b humble

网络代理好的话可以直接使用github链接

sudo apt-get install -y build-essential
mkdir -p microros_ws/src
cd microros_ws/src
git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b humble
git clone https://github.com/micro-ROS/micro_ros_msgs.git -b humble

编译
1
2
cd ~/microros_ws
colcon build
使用gitee仓库编译时我遇到了有一个仓库无法拉去下来的报错

解决办法是去microros_ws/src/micro-ROS-Agent/micro_ros_agent/cmake/SuperBuild.cmake

把第二十七行改为
1
https://gh-proxy.org/https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
设置权限

设置当前用户可以自由读取usb权限，需重启才能生效
1
sudo usermod -aG dialout $USER
临时赋予权限可以使用
1
sudo chmod 777 /dev/ttyACM0
启动！
1
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 --dev /dev/ttyACM0 -v
查看usb端口号使用ls /dev/tty*，一般是/dev/ttyACM0或者/dev/ttyUSB0

测试

$ ros2 topic list
/esp32_pwm/gpio4
/esp32_pwm/gpio5
/esp32_pwm/gpio6
/esp32_pwm/gpio7
/parameter_events
/rosout

例如设置gpio5为50%占空比

1	ros2 topic pub /esp32_pwm/gpio5 std_msgs/msg/Float32 data:\ 0.5\

ESP32S3使用micro_ros_arduino实现ROS2通信

ESP32代码烧录

Ubuntu22.04运行micro_ros_agent节点

说些什么吧！