子版块

• FishBot二驱机器人

  一个开源的机器人两轮差速移动底盘

  仿真 硬件系统 嵌入式系统
  377
  主题
  2.7k
  帖子

  小

  @小鱼
  Ubuntu 24.04.1 LTS

  开终端
  docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host registry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:humble udp4 --port 8888 -v6
  开新终端
  ros2 run teleop_twist_keyboard teleop_twist_keyboard

  原终端

  [1752732918.127213] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x2A8750AE, topic_id: 0x000(2), participant_id: 0x000(1) [1752732918.127246] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 14, data: 0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00 [1752732918.127253] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1752732918.164447] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1752732918.236313] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1752732918.236517] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1752732918.364735] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80 [1752732918.370782] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1752732918.389860] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 24, data: 0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 01 02 00 00 00 00 00 00 01 [1752732918.389890] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1752732918.389899] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80 [1752732918.390052] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 01 80 [1752732918.390108] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x2A8750AE, publisher_id: 0x000(3), participant_id: 0x000(1) [1752732918.390128] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 14, data: 0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00 [1752732918.390134] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1752732918.455072] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80 [1752732918.455098] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 24, data: 0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 01 02 00 00 00 00 00 00 01 [1752732918.455265] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1752732918.541929] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data: 0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80 [1752732918.542394] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 36, data: 0000: 81 80 03 00 01 07 1C 00 00 0D 00 05 05 03 00 01 0E 00 00 00 00 02 01 00 02 00 01 B3 05 00 00 00 0020: 00 00 00 03 terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException' what(): Not enough memory in the buffer stream [ros2run]: Aborted

  新终端

  This node takes keypresses from the keyboard and publishes them as Twist/TwistStamped messages. It works best with a US keyboard layout. --------------------------- Moving around: u i o j k l m , . For Holonomic mode (strafing), hold down the shift key: --------------------------- U I O J K L M < > t : up (+z) b : down (-z) anything else : stop q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linear speed by 10% e/c : increase/decrease only angular speed by 10% CTRL-C to quit currently: speed 0.5 turn 1.0
• FishBot四驱机器人V2

  FishBot四驱机器人平台支持全向&四轮差速模型

  53
  主题
  180
  帖子

  W

  老师，v2版本的超声波雷达测试代码，返回结果一直是0，帮我看一下什么原因呢。
  e6a8ea97-1931-40dd-a107-995b3ba34cf1-image.png
  9d70c696-6eef-4ff2-84e2-d79c76cb91d4-img_v3_02ng_f070ce24-3c47-4610-ac45-afec1991240g.jpg

• 多协议传输控制器

  ROS 2多协议传输控制器(485&CAN&IO)&CAN调试器

  18
  主题
  47
  帖子

  小

  《多协议传输控制器》使用以太网直连方式接入 ROS 系统

  开始前准备：

  硬件：

  传输控制板*1 Type-B电源线*1 网线*1 带网口的电脑或者USB网卡*1 9~28V电源

  软件：

  安装Ubuntu的系统*1 安装好ROS2 Humble以上版本ROS系统 1. micro-ROS Agent 和 消息接口下载与构建

  在主目录下创建，ros2_transmission_ws 目录及子目录src（其他目录也可以）

  mkdir -p ~/ros2_transmission_ws/src

  下载源码

  cd ~/ros2_transmission_ws/src git clone http://github.fishros.org/https://github.com/fishros/micro-ROS-Agent -b humble git clone http://github.fishros.org/https://github.com/fishros/robot_interfaces git clone http://github.fishros.org/https://github.com/micro-ROS/micro_ros_msgs.git -b humble

  构建工作空间

  cd ~/ros2_transmission_ws/ colcon build --- Starting >>> micro_ros_agent Starting >>> robot_interfaces Finished <<< robot_interfaces [6.76s] [Processing: micro_ros_agent] --- stderr: micro_ros_agent 正克隆到 'xrceagent'... 切换到一个新分支 'ros2' HEAD 目前位于 c25243c Enable Domain Override on Reference and XML Participant (#351) CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to `find_package_handle_standard_args` (tinyxml2) does not match the name of the calling package (TinyXML2). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args) /opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package) CMakeLists.txt:153 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. --- Finished <<< micro_ros_agent [56.9s] Summary: 2 packages finished [58.9s] 1 package had stderr output: micro_ros_agent

  看到：Summary: 2 packages finished [58.9s] 就表示构建成功了，中间的警告请忽略。

  2.完成硬件连接

  这种连接方式的特点是，通过网线将雷达和电脑(控制卡)直连，优点是稳定。

  连接方式：

  电脑<----Type-B|USB线----->控制板USB口
  电脑<----网线----->控制板网口
  电源---->控制板电源口

  3.使用配置助手修改配置

  打开配置助手，扫描配置，确认如下选项的值，若不是，请手动修改。

  配置项 描述 默认值 transport_mode 传输模式（例如以太网静态IP配置协议） eth_static server_ip 服务器的IP地址 192.168.168.5 eth_ip 设备的以太网IP地址 192.168.168.250 server_port 服务器的端口号 8888

  传输模式我们这里采用 eth_static ，静态IP模式，并设置控制板的IP地址为 192.168.168.250 ，你也可以自己根据情况设定，但需要保证，服务IP,以太网IP在同一个子网下。

  设置完成后请手动或者点击配置助手的重启设备进行重启。

  4. 设置电脑IP地址

  为了调试方便，我们手动来修改电脑中对应接口的网卡IP地址为配置中的server_ip，在Linux中使用 ifconfig可以临时设置对应网卡的IP地址。（注意只是临时，调试阶段建议使用，正式使用请文末方法）

  使用ifconfig查看所有网卡

  ifconfig --- enx4ce173422378: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet6 fe80::915b:c170:f24c:844c prefixlen 64 scopeid 0x20<link> ether 4c:e1:73:42:23:78 txqueuelen 1000 (以太网) RX packets 22 bytes 7392 (7.3 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 136 bytes 15185 (15.1 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10<host> loop txqueuelen 1000 (本地环回) RX packets 879222 bytes 758350473 (758.3 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 879222 bytes 758350473 (758.3 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

  可以看到我这里有一个USB网卡：enx4ce173422378 是以太网（你的可能不是这个名字，请仔细辨别）

  接着我们用ifconfig来设置IP地址，

  sudo ifconfig enx4ce173422378 192.168.168.5 netmask 255.255.255.0

  设置完成后再次查看这个网卡的IP地址。

  ifconfig enx4ce173422378 enx4ce173422378: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.168.5 netmask 255.255.255.0 broadcast 192.168.168.255 inet6 fe80::915b:c170:f24c:844c prefixlen 64 scopeid 0x20<link> ether 4c:e1:73:42:23:78 txqueuelen 1000 (以太网) RX packets 8 bytes 2688 (2.6 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 38 bytes 6858 (6.8 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

  可以看到这里的地址，inet 192.168.168.5 netmask 255.255.255.0 broadcast 192.168.168.255， 已经被成功设置了。

  5.运行agent,接收消息

  进入到工作空间，运行agent

  cd ~/ros2_transmission_ws/ source install/setup.bash ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v4 --- [1718247114.695455] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1718247114.695599] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [1718247213.629429] info | Root.cpp | create_client | create | client_key: 0x17679F09, session_id: 0x81 [1718247213.629612] info | SessionManager.hpp | establish_session | session established | client_key: 0x17679F09, address: 192.168.168.250:47138 [1718247213.661143] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x17679F09, participant_id: 0x000(1) [1718247213.663314] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x000(2), participant_id: 0x000(1) [1718247213.664917] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x17679F09, publisher_id: 0x000(3), participant_id: 0x000(1) [1718247213.666583] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x17679F09, datawriter_id: 0x000(5), publisher_id: 0x000(3) [1718247213.668377] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x001(2), participant_id: 0x000(1) [1718247213.669829] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x17679F09, subscriber_id: 0x000(4), participant_id: 0x000(1) [1718247213.671514] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x17679F09, datareader_id: 0x000(6), subscriber_id: 0x000(4) [1718247213.673291] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x002(2), participant_id: 0x000(1) [1718247213.674897] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x17679F09, publisher_id: 0x001(3), participant_id: 0x000(1) [1718247213.676535] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x17679F09, datawriter_id: 0x001(5), publisher_id: 0x001(3) [1718247213.678195] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x003(2), participant_id: 0x000(1) [1718247213.679745] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x17679F09, subscriber_id: 0x001(4), participant_id: 0x000(1) [1718247213.681438] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x17679F09, datareader_id: 0x001(6), subscriber_id: 0x001(4) [1718247213.683368] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x004(2), participant_id: 0x000(1) [1718247213.685201] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x17679F09, publisher_id: 0x002(3), participant_id: 0x000(1) [1718247213.686799] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x17679F09, datawriter_id: 0x002(5), publisher_id: 0x002(3) [1718247213.688641] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x17679F09, topic_id: 0x005(2), participant_id: 0x000(1) [1718247213.690344] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x17679F09, subscriber_id: 0x002(4), participant_id: 0x000(1) [1718247213.692013] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x17679F09, datareader_id: 0x002(6), subscriber_id: 0x002(4)

  看到上面的日志就表示连接成功了，接着就可以尝试订阅IO状态话题，打开新的终端，输入如下命令：

  cd ~/ros2_transmission_ws/ source install/setup.bash ros2 topic echo /read_io --- analog: [] digital: - 1 - 1 - 1 - 1 --- analog: [] digital: - 1 - 1 - 1 - 1 --- ...

  可以看到这里每帧输出了四个数据，是四个输入IO的状态，这个话题默认以10Hz进行发布，发布频率可以修改。

  使用 ros2 topic list 可以查看控制器节点可以支持的话题。

  话题名称 消息接口 订阅/发布 /write_485 robot_interfaces/msg/RawUInt8 订阅 /write_can robot_interfaces/msg/CanFrame 订阅 /write_io robot_interfaces/msg/WriteIO 订阅 /read_485 robot_interfaces/msg/RawUInt8 发布 /read_can robot_interfaces/msg/CanFrame 发布 /read_io robot_interfaces/msg/ReadIO 发布

  关于每个话题如何使用，可以参考例程篇介绍。

  6. 永久设置静态IP地址 方法1

  在 Ubuntu/Debian 系统终端中输入如下命令：

  编辑/etc/network/interfaces文件：

  sudo nano /etc/network/interfaces

  添加或修改以下内容：

  auto enx4ce173422378 iface enx4ce173422378 inet static address 192.168.168.5 netmask 255.255.255.0 gateway 192.168.168.1

  保存后重启即可永久设置。

  方法2

  查看网络接口名称：
  使用以下命令查看你的网络接口名称：

  ip link

  找到你要设置静态 IP 的接口名称（例如 ens33 或 enx4ce173422378）。

  编辑 netplan 配置文件：
  打开 netplan 配置文件，例如：

  sudo nano /etc/netplan/00-installer-config.yaml

  在 ethernets 部分添加以下内容（根据你的实际情况进行调整）：

  network: version: 2 renderer: networkd ethernets: enx4ce173422378: addresses: [192.168.168.5/24] routes: - to: 0.0.0.0/0 via: 192.168.168.1 nameservers: addresses: [8.8.8.8, 8.8.4.4]

  设置文件权限

  sudo chmod 600 /etc/netplan/00-installer-config.yaml

  保存并应用更改：
  保存文件并应用更改：

  sudo netplan apply

  验证设置：
  使用以下命令验证你的设置：

  ip addr show enx4ce173422378 ip route show