ROS2与arduino入门教程-安装Teensyduino

ROS2与arduino入门教程-安装Teensyduino

说明：

• 介绍如何安装teensyduino支持teensy板子

Teensyduino安装步骤：

• 新建目录

mkdir ~/tools/teensy-micros

• 下载rules

cd ~/tools/teensy-micros
wget https://www.pjrc.com/teensy/49-teensy.rules

• 下载arduino和解压

wget https://downloads.arduino.cc/arduino-1.8.13-linux64.tar.xz
tar -zxJf arduino-1.8.13-linux64.tar.xz

• 下载teensyduino

wget https://www.pjrc.com/teensy/td_153/TeensyduinoInstall.linux64
chmod 755 TeensyduinoInstall.linux64
./TeensyduinoInstall.linux64

• 根据界面提示安装，选择刚才下载arduino目录
• 安装完成既支持teensy烧录固件

增加micros支持：

• 下载micros版本，点击选择可下载版本

cd ~/tools/teensy-micros
wget  https://github.com/micro-ROS/micro_ros_arduino/archive/v0.0.4.zip

• 打开arduino IDE

~/tools/teensy-micros/arduino-1.8.13/arduino 

• 进入上传库压缩包界面，Sketch -> Include library -> Add .ZIP Library...
• 打Teensyduino补丁

#export ARDUINO_PATH=[Your Arduino + Teensiduino path]
export ARDUINO_PATH=~/tools/teensy-micros/arduino-1.8.13/
cd $ARDUINO_PATH/hardware/teensy/avr/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/patching_boards/platform_teensy.txt > platform.txt

测试：

• 选择刷固件，File->micro_ros_arduino->micro-ros_publisher

• 点击刷固件箭头，完成刷固件

• 在pc端，运行agent

• PC端，使用ros2的版本foxy

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -v6

• 效果如下：

 data:
0000: 81 00 00 00 0B 01 05 00 06 00 06 00 80
[1609296063.242358] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 07 00 00 00 80
[1609296064.203405] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x50E95322, len: 16, data:
0000: 81 80 07 00 07 01 08 00 00 11 00 05 03 00 00 00
[1609296064.203475] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 07 00 07 00 80
[1609296064.203492] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 07 00 07 00 80
[1609296064.203571] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data:
0000: 03 00 00 00
[1609296064.203724] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1609296064.203760] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1609296064.203776] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80
[1609296064.204683] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 07 00 07 00 80
[1609296064.204905] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x50E95322, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 08 00 00 00 80

• 在PC端，新开终端，执行

ubuntu@AiROS2-NUC:~$ ros2 topic list
/micro_ros_arduino_node_publisher
/parameter_events
/rosout

• 在PC端，新开终端，执行

ubuntu@AiROS2-NUC:~$ ros2 topic echo /micro_ros_arduino_node_publisher
data: 105
---
data: 106
---
data: 107
---
data: 108
---
data: 109
---
data: 110
---