基于ROS和python，通过TCP通信协议，完成键盘无线控制移动机器人运动
一、所需工具包
1.ROS键盘包：teleop_twist_keyboard
2.TCP通讯包：socket
- $ cd ~/catkin_ws/src
- $ git clone https://github.com/Forrest-Z/teleop_twist_keyboard.git
- $ catkin_make
3.在ubuntu的ros中建立一个ros_car_py包:
- $ cd ~/catkin_ws/src
- $ catkin_create_pkg ros_car_py roscpp rospy std_msgs
4.新建 base 文件:
- $ cd catkin_ws/src/base
- $ mkdir src
- $ vim src/base.py
代码如下(ROS作为TCP服务器):
#!/usr/bin/env python
# coding=utf-8
import rospy
from socket import *
import time
from threading import Thread
from std_msgs.msg import String
from geometry_msgs.msg import Twist
msg_list = []
def callback(cmd_input, Socket):
print("-----服务器已经启动成功，准备接收数据-----")
Socket.settimeout(5)
recvdata = Socket.recv(4096)
t = Twist()
t.angular.z = cmd_input.angular.z
t.linear.x = cmd_input.linear.x
left_speed = t.linear.x - t.angular.z * 0.5 * 0.2
right_speed = t.linear.x + t.angular.z * 0.5 * 0.2
left_speed *= 1000
right_speed *= 1000
left_speed = str(left_speed)
right_speed = str(right_speed)
# msg_list.append(left_speed)
# msg_list.append(right_speed)
print("left_speed=%s" % left_speed)
print("right_speed=%s" % right_speed)
if len(recvdata) != 0:
print("-----接收到数据-----")
print("recvdata:%s" % recvdata)
# Socket.send(b"hello beaglebone")
# Socket.send(b"左轮速度")
Socket.send(left_speed.encode("utf-8"))
# Socket.send(b"右轮速度")
Socket.send(right_speed.encode("utf-8"))
# Socket.send(msg_list)
else:
print('-----未接收到客户端数据，可能连接已经断开-----')
# Socket.send(b'client off')
# 数据中断时进行服务重启程序，先close 再accept等待重新连线
# 可以防止出现当client意外终止导致server的中断（Broken pipe错误）
print('-----正在重新建立连接-----')
Socket.close()
Socket, clientInfo = serverSocket.accept()
# serverSocket.close()
def main():
rospy.init_node("base")
serverSocket = socket(AF_INET, SOCK_STREAM)
serverSocket.setsockopt(SOL_SOCKET, SO_REUSEADDR, 1)
serverSocket.bind(('', 8899))
serverSocket.listen(5)
print("-----服务器正在启动-----")
Socket, clientInfo = serverSocket.accept()
sub = rospy.Subscriber("cmd_vel", Twist, callback, Socket)
rate = rospy.Rate(10)
rospy.spin()
if __name__ == "__main__":
main()
注意事项:
- ROS中的python是python2,使用python3会出错，所以需要在开头加上#!/usr/bin/env python
- 编写好python程序后，编译成功但是无法运行，报错Couldn't find executable named XXX.py，无法执行
- 问题原因:
- 文件没有执行权限
- 解决办法:
- 给文件添加执行权限
- 命令：chmod +x base.py
修改CMakeList.txt:
- cmake_minimum_required(VERSION 2.8.3)
- project(ros_car_py)
- find_package(catkin REQUIRED COMPONENTS
- roscpp
- rospy
- std_msgs
- message_generation
- )
- add_message_files(
- FILES
- MsgCar.msg
- )
- generate_messages(
- DEPENDENCIES
- std_msgs
- )
- catkin_package(
- # INCLUDE_DIRS include
- # LIBRARIES ros_car_py
- CATKIN_DEPENDS message_runtime
- #roscpp rospy std_msgs
- # DEPENDS system_lib
- )
- include_directories(
- # include
- ${catkin_INCLUDE_DIRS}
- )
单独编译ros_car_pkg包:
- $ catkin_make -DCATKIN_WHITELIST_PACKAGES='ros_car_py'
二、控制原理：
- 当我们按下键盘时，teleop_twist_keyboard 包会发布 /cmd_vel 发布速度主题
- 在 base 节点订阅这个话题，接收速度数据，转换成字符串(TCP只允许发送字符串)，然后发送至客户端
设置beaglebone作为客户端：
运行代码加载设备树并读串口数据用于控制PWM，进而控制小车运动
from socket import *
import time
SLOTS = "/sys/devices/bone_capemgr.9/slots"
p1_duty = "/sys/devices/ocp.3/pwm_test_P9_16.16/duty"
p2_duty = "/sys/devices/ocp.3/pwm_test_P8_13.15/duty"
p1_period = "/sys/devices/ocp.3/pwm_test_P9_16.16/period"
p2_period = "/sys/devices/ocp.3/pwm_test_P8_13.15/period"
p1_run = "/sys/devices/ocp.3/pwm_test_P9_16.16/run"
p2_run = "/sys/devices/ocp.3/pwm_test_P8_13.15/run"
p1_export = "/sys/class/gpio/export"
p2_export = "/sys/class/gpio/export"
p1_direction = "/sys/class/gpio/gpio44/direction"
p2_direction = "/sys/class/gpio/gpio45/direction"
p1_polarity = "/sys/class/gpio/gpio44/value"
p2_polarity = "/sys/class/gpio/gpio45/value"
msg_lists = []
clientSocket = socket(AF_INET, SOCK_STREAM)
clientSocket.connect(("192.168.1.151", 8899))
try:
with open(SLOTS, "a") as f:
f.write("am33xx_pwm")
with open(SLOTS, "a") as f:
f.write("bone_pwm_P9_22")
with open(SLOTS, "a") as f:
f.write("bone_pwm_P9_16")
with open(p1_export, "a") as f:
f.write("44")
with open(p2_export, "a") as f:
f.write("45")
with open(p1_direction, "a") as f:
f.write("in")
with open(p2_direction, "a") as f:
f.write("in")
except:
pass
while True:
clientSocket.send(b"hello ROS")
msg_list1 = clientSocket.recv(1024)
msg_list2 = clientSocket.recv(1024)
if len(msg_list1) or len(msg_list2) > 0:
msg_lists.append(msg_list1)
msg_lists.append(msg_list2)
for msg in msg_lists:
print("recvData:%s" % msg)
if msg_lists[0] == '500.0' and msg_lists[1] == '500.0':
msg_lists = []
print("succes")
try:
with open(p1_period, "a") as f:
f.write("500000")
with open(p1_duty, "a") as f:
f.write("250000")
with open(p2_period, "a") as f:
f.write("500000")
with open(p2_duty, "a") as f:
f.write("250000")
with open(p1_run, "a") as f:
f.write("1")
with open(p2_run, "a") as f:
f.write("1")
with open(p1_polarity, "a") as f:
f.write("1")
with open(p2_polarity, "a") as f:
f.write("1")
except:
pass
elif msg_lists[0] == '400.0' and msg_lists[1] == '600.0':
msg_lists = []
try:
with open(p1_period, "a") as f:
f.write("400000")
with open(p1_duty, "a") as f:
f.write("200000")
with open(p2_period, "a") as f:
f.write("600000")
with open(p2_duty, "a") as f:
f.write("300000")
with open(p1_run, "a") as f:
f.write("1")
with open(p2_run, "a") as f:
f.write("1")
with open(p1_polarity, "a") as f:
f.write("1")
with open(p2_polarity, "a") as f:
f.write("1")
except:
pass
elif msg_lists[0] == '600.0' and msg_lists[1] == '400.0':
msg_lists = []
try:
with open(p1_period, "a") as f:
f.write("600000")
with open(p1_duty, "a") as f:
f.write("300000")
with open(p2_period, "a") as f:
f.write("400000")
with open(p2_duty, "a") as f:
f.write("200000")
with open(p1_run, "a") as f:
f.write("1")
with open(p2_run, "a") as f:
f.write("1")
with open(p1_polarity, "a") as f:
f.write("1")
with open(p2_polarity, "a") as f:
f.write("1")
except:
pass
elif msg_lists[0] == '-500.0' and msg_lists[1] == '-500.0':
msg_lists = []
try:
with open(p1_period, "a") as f:
f.write("500000")
with open(p1_duty, "a") as f:
f.write("250000")
with open(p2_period, "a") as f:
f.write("500000")
with open(p2_duty, "a") as f:
f.write("250000")
with open(p1_run, "a") as f:
f.write("1")
with open(p2_run, "a") as f:
f.write("1")
with open(p1_polarity, "a") as f:
f.write("0")
with open(p2_polarity, "a") as f:
f.write("0")
except:
pass
elif msg_lists[0] == '-600.0' and msg_lists[1] == '-400.0':
msg_lists = []
try:
with open(p1_period, "a") as f:
f.write("600000")
with open(p1_duty, "a") as f:
f.write("300000")
with open(p2_period, "a") as f:
f.write("400000")
with open(p2_duty, "a") as f:
f.write("200000")
with open(p1_run, "a") as f:
f.write("1")
with open(p2_run, "a") as f:
f.write("1")
with open(p1_polarity, "a") as f:
f.write("0")
with open(p2_polarity, "a") as f:
f.write("0")
except:
pass
elif msg_lists[0] == '-400.0' and msg_lists[1] == '-600.0':
msg_lists = []
try:
with open(p1_period, "a") as f:
f.write("400000")
with open(p1_duty, "a") as f:
f.write("200000")
with open(p2_period, "a") as f:
f.write("600000")
with open(p2_duty, "a") as f:
f.write("300000")
with open(p1_run, "a") as f:
f.write("1")
with open(p2_run, "a") as f:
f.write("1")
with open(p1_polarity, "a") as f:
f.write("0")
with open(p2_polarity, "a") as f:
f.write("0")
except:
pass
elif msg_lists[0] == '0.0' and msg_lists[1] == '0.0':
msg_lists = []
try:
with open(p1_run, "a") as f:
f.write("0")
with open(p2_run, "a") as f:
f.write("0")
except:
pass
else:
pass
else:
time.sleep(0.1)
clientSocket = socket(AF_INET, SOCK_STREAM)
clientSocket.connect(("192.168.1.138", 8899))
基于ROS和python，通过TCP通信协议，完成键盘无线控制移动机器人运动的更多相关文章
- 基于Arduino和python的串口通信和上位机控制
引言 经常的时候我们要实现两个代码之间的通信,比如说两个不同不同人写的代码要对接,例如将python指令控制Arduino控件的开关,此处使用串口通信是非常方便的,下面笔者将结合自己踩过的坑来讲述下自 ...
- Python网络编程基础 ❷ 基于upd的socket服务 TCP黏包现象
TCP的长连接 基于upd的socket服务 TCP黏包现象
- (29)网络编程之TCP通信协议
TCP通信协议特点: 1.tcp协议是基于IO流进行数据的传输,是面向链接的. 2.tcp进行数据传输的时候,数据没有大小限制的. 3.面向链接,通过三次握手的机制,保证数据的完整性,是一个可靠的协议 ...
- 基于ROS的分布式机器人远程控制平台
基于ROS的分布式机器人远程控制平台 1 结构说明 HiBot架构主要使用C/S架构,其中HibotServer为服务器,Muqutte为消息服务器中间件,HiBotClient为运行在机器人上的 ...
- Modbus RTU通信协议详解以及与Modbus TCP通信协议之间的区别和联系
Modbus通信协议由Modicon公司(现已经为施耐德公司并购,成为其旗下的子品牌)于1979年发明的,是全球最早用于工业现场的总线规约.由于其免费公开发行,使用该协议的厂家无需缴纳任何费用,Mod ...
- ROS系统python代码测试之rostest
ROS系统中提供了测试框架,可以实现python/c++代码的单元测试,python和C++通过不同的方式实现, 之后的两篇文档分别详细介绍各自的实现步骤,以及测试结果和覆盖率的获取. ROS系统中p ...
- python之tcp自动重连
操作系统: CentOS 6.9_x64 python语言版本: 2.7.13 问题描述 现有一个tcp客户端程序,需定期从服务器取数据,但由于种种原因(网络不稳定等)需要自动重连. 测试服务器示例代 ...
- 基于SQL和PYTHON的数据库数据查询select语句
#xiaodeng#python3#基于SQL和PYTHON的数据库数据查询语句import pymysql #1.基本用法cur.execute("select * from biao&q ...
- DIY一个基于树莓派和Python的无人机视觉跟踪系统
DIY一个基于树莓派和Python的无人机视觉跟踪系统 无人机通过图传将航拍到的图像存储并实时传送回地面站差点儿已经是标配.假设想来点高级的--在无人机上直接处理拍摄的图像并实现自己主动控制要怎么实现 ...
随机推荐
- java数值比较
import org.junit.Test; public class NumberCompare { /** * 数值比较,以Float为例 */ @Test public void testNam ...
- 【netcore基础】CentOS 7.6.1810 搭建.net core 2.1 linux 运行环境 nginx反向代理 supervisor配置自启动
之前写过一篇Ubuntu的环境搭建博客,感觉一些配置大同小异,这里重点记录下 nginx 作为静态 angular 项目文件服务器的配置 参考链接 [netcore基础]ubuntu 16.04 搭建 ...
- Golang， 以 9 个简短代码片段，弄懂 defer 的使用特点
作者:林冠宏 / 指尖下的幽灵 掘金:https://juejin.im/user/587f0dfe128fe100570ce2d8 博客:http://www.cnblogs.com/linguan ...
- Go学习笔记（四）Go自动化测试框架
上篇Go学习笔记(三)Go语言学习 Go自动化测试非常简单,在结合VSCode的,让测试完全自动化 一 .编辑器下测试 1.测试代码以xxx_test.go方式命名 2.测试函数要以 func Tes ...
- PowerBI与Visio
前言 如何在Power BI中使用Visio, 刚好最近微软推出了适用于Power BI 的 Visio自定义可视化对象预览,分享给大家. 我们先看一下效果: 通过自定义可视化对象,将Visio ...
- 前端页面展示MySQL数据并实现前后端互动
前端页面使用H-ui框架 后端使用flask框架 数据库使用mysql 连接数据库通过pymysql实现 前端代码如下 <html lang="en"> < ...
- 把一张图片变成base64
// image_file可为urlprivate function base64EncodeImage($image_file) { $image_info = getimagesize($imag ...
- Windows 环境下 wampserver 与 phpStudy 的环境配置
一. wamperserver 1.下载好安装到本地指定目录,官网下载地址 http://www.wampserver.com 2.根据自己实际的安装路径,D:\pc\wampserver\wamp ...
- SQL语句利用日志写shell
outfile被禁止,或者写入文件被拦截: 在数据库中操作如下:(必须是root权限) show variables like '%general%'; #查看配置 set global genera ...
- PYTHON SOCKET编程简介
原文地址: PYTHON SOCKET编程详细介绍 Python 提供了两个基本的 socket 模块. 第一个是 Socket,它提供了标准的 BSD Sockets API. 第二个是 Soc ...