我使用 stm32 bluepill 板和 rosserial 发布两个主题，即“right_wheel_ticks”和“left_wheel ticks”。
这是main.cpp文件的代码。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
#include "../Inc/rosserial/ros.h"
#include "../Inc/rosserial/std_msgs/Int16.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
ros::NodeHandle nh;
std_msgs::Int16 right_wheel_tick_count;
std_msgs::Int16 left_wheel_tick_count;
ros::Publisher rightPub("right_wheel_ticks", &right_wheel_tick_count);
ros::Publisher leftPub("left_wheel_ticks", &left_wheel_tick_count);
long delay = 500;
long cur_time_right = 0;
long pre_time_right = 0;
long cur_time_left = 0;
long pre_time_left = 0;
const int encoder_minimum = -32768;
const int encoder_maximum = 32767;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
nh.initNode();
nh.advertise(rightPub);
nh.advertise(leftPub);
//nh.negotiateTopics();
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
HAL_Delay(100);
nh.spinOnce();
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pins : PA1 PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA2 PA4 */
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
}
/* USER CODE BEGIN 4 */
void RightWheelPulseCount(){
cur_time_right = HAL_GetTick();
if ((cur_time_right-pre_time_right)>delay){
if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2)){
if (right_wheel_tick_count.data == encoder_maximum) {
right_wheel_tick_count.data = encoder_minimum;
}
else {
right_wheel_tick_count.data++;
}
}
else {
if (right_wheel_tick_count.data == encoder_minimum) {
right_wheel_tick_count.data = encoder_maximum;
}
else {
right_wheel_tick_count.data--;
}
}
rightPub.publish(&right_wheel_tick_count);
pre_time_right = cur_time_right;
}
}
void LeftWheelPulseCount(){
cur_time_left = HAL_GetTick();
if ((cur_time_left-pre_time_left)>delay){
if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4)){
if (left_wheel_tick_count.data == encoder_maximum) {
left_wheel_tick_count.data = encoder_minimum;
}
else {
left_wheel_tick_count.data++;
}
}
else {
if (left_wheel_tick_count.data == encoder_minimum) {
left_wheel_tick_count.data = encoder_maximum;
}
else {
left_wheel_tick_count.data--;
}
}
leftPub.publish(&left_wheel_tick_count);
pre_time_left = cur_time_left;
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin){
if (GPIO_Pin == GPIO_PIN_1){
RightWheelPulseCount();
}
else if (GPIO_Pin == GPIO_PIN_3){
LeftWheelPulseCount();
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
代码没有给出任何构建错误。
将代码调试到 bluepill 板后，我将板连接到我的 ubuntu 电脑。
我在终端中运行此命令以通过 rosserial 连接 bluepill，
rosrun rosserial_python serial_nodes.py /dev/ttyACM0
当我在终端中运行
rostopic list/left_wheel_ticks/diagnostics
/left_wheel_ticks
/rosout
/rosout_agg
如何设置“left_wheel_ticks”和“right_wheel_ticks”主题进行发布？