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    fishbot上有IMU模块，但是第九章最后的小车代码没有IMU部分，想知道这部分代码如何编写

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    • 小鱼小
      小鱼 技术大佬 @1257261547
      最后由 编辑

      @1257261547 cmd_vel 话题是否正常

      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

      1 3 条回复 最后回复 回复 引用 0
      • 1
        1257261547 @小鱼
        最后由 编辑

        @小鱼 ros2 topic info /cmd_vel -v
        Type: geometry_msgs/msg/Twist

        Publisher count: 6

        Node name: behavior_server
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: PUBLISHER
        GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.01.f8.03.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: RELIABLE
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        Node name: behavior_server
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: PUBLISHER
        GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.01.03.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: RELIABLE
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        Node name: behavior_server
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: PUBLISHER
        GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.0a.03.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: RELIABLE
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        Node name: behavior_server
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: PUBLISHER
        GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.13.03.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: RELIABLE
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        Node name: behavior_server
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: PUBLISHER
        GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.1e.03.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: RELIABLE
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        Node name: velocity_smoother
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: PUBLISHER
        GID: 01.0f.ba.99.6b.2f.2e.4e.00.00.00.00.00.02.69.03.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: RELIABLE
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        Subscription count: 1

        Node name: example_xbwbot_motion_control
        Node namespace: /
        Topic type: geometry_msgs/msg/Twist
        Endpoint type: SUBSCRIPTION
        GID: 01.0f.ba.99.ac.26.9b.f6.00.00.00.00.00.00.01.04.00.00.00.00.00.00.00.00
        QoS profile:
        Reliability: BEST_EFFORT
        History (Depth): UNKNOWN
        Durability: VOLATILE
        Lifespan: Infinite
        Deadline: Infinite
        Liveliness: AUTOMATIC
        Liveliness lease duration: Infinite

        1 1 条回复 最后回复 回复 引用 0
        • 1
          1257261547 @1257261547
          最后由 编辑

          @1257261547 但是使用ros2 topic echo /cmd_vel和ros2 topic hz /cmd_vel都没有回应

          小鱼小 1 条回复 最后回复 回复 引用 0
          • 1
            1257261547 @小鱼
            最后由 编辑

            @小鱼 66dbfae6-6191-4457-9716-a03cd899a15f-图片.png

            1 条回复 最后回复 回复 引用 0
            • 1
              1257261547 @小鱼
              最后由 编辑

              @小鱼 78add93a-fd50-4316-ba58-2cf93bc4bbd1-图片.png

              1 1 条回复 最后回复 回复 引用 0
              • 1
                1257261547 @1257261547
                最后由 编辑

                @1257261547bringup.launch.py ```
                code_text

                import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    fishbot_bringup_dir = get_package_share_directory(
        'xbwbot_bringup')
    ydlidar_ros2_dir = get_package_share_directory(
        'ydlidar')

    urdf2tf = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [fishbot_bringup_dir, '/launch', '/urdf2tf.launch.py']),
    )

    microros_agent = launch_ros.actions.Node(
        package='micro_ros_agent',
        executable='micro_ros_agent',
        arguments=['udp4','--port','8888'],
        output='screen'
    )

    ros_serail2wifi =  launch_ros.actions.Node(
        package='ros_serail2wifi',
        executable='tcp_server',
        parameters=[{'serial_port': '/tmp/tty_laser'}],
        output='screen'
    )

    ydlidar = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [ydlidar_ros2_dir, '/launch', '/ydlidar_launch.py']),
    )

    # 使用 TimerAction 启动后 5 秒执行 ydlidar 节点
    ydlidar_delay = launch.actions.TimerAction(period=5.0, actions=[ydlidar])
    
    return launch.LaunchDescription([
        urdf2tf,
        microros_agent,
        ros_serail2wifi,
        ydlidar_delay
    ])
odom2tf.cpp

                code_text

                #include <rclcpp/rclcpp.hpp>
#include <tf2/utils.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>

class OdomTopic2TF : public rclcpp::Node {
public:
  OdomTopic2TF(std::string name) : Node(name) {
    // 创建 odom 话题订阅者，使用传感器数据的 Qos
    odom_subscribe_ = this->create_subscription<nav_msgs::msg::Odometry>(
        "odom", rclcpp::SensorDataQoS(),
        std::bind(&OdomTopic2TF::odom_callback_, this, std::placeholders::_1));
    // 创建一个tf2_ros::TransformBroadcaster用于广播坐标变换
    tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
  }

private:
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscribe_;
  std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
  // 回调函数，处理接收到的odom消息，并发布tf
  void odom_callback_(const nav_msgs::msg::Odometry::SharedPtr msg) {
    geometry_msgs::msg::TransformStamped transform;
    transform.header = msg->header; // 使用消息的时间戳和框架ID
    transform.child_frame_id = msg->child_frame_id;
    transform.transform.translation.x = msg->pose.pose.position.x;
    transform.transform.translation.y = msg->pose.pose.position.y;
    transform.transform.translation.z = msg->pose.pose.position.z;
    transform.transform.rotation.x = msg->pose.pose.orientation.x;
    transform.transform.rotation.y = msg->pose.pose.orientation.y;
    transform.transform.rotation.z = msg->pose.pose.orientation.z;
    transform.transform.rotation.w = msg->pose.pose.orientation.w;
    // 广播坐标变换信息
    tf_broadcaster_->sendTransform(transform);
  };
};

int main(int argc, char **argv) {
  rclcpp::init(argc, argv);
  auto node = std::make_shared<OdomTopic2TF>("odom2tf");
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}
navigation2.launch.py

                code_text

                import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():
    # 获取与拼接默认路径
    fishbot_navigation2_dir = get_package_share_directory(
        'xbwbot_navigation2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    rviz_config_dir = os.path.join(
        nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
    
    # 创建 Launch 配置
    use_sim_time = launch.substitutions.LaunchConfiguration(
        'use_sim_time', default='true')
    map_yaml_path = launch.substitutions.LaunchConfiguration(
        'map', default=os.path.join(fishbot_navigation2_dir, 'maps', 'room.yaml'))
    nav2_param_path = launch.substitutions.LaunchConfiguration(
        'params_file', default=os.path.join(fishbot_navigation2_dir, 'config', 'nav2_params.yaml'))

    return launch.LaunchDescription([
        # 声明新的 Launch 参数
        launch.actions.DeclareLaunchArgument('use_sim_time', default_value=use_sim_time,
                                             description='Use simulation (Gazebo) clock if true'),
        launch.actions.DeclareLaunchArgument('map', default_value=map_yaml_path,
                                             description='Full path to map file to load'),
        launch.actions.DeclareLaunchArgument('params_file', default_value=nav2_param_path,
                                             description='Full path to param file to load'),

        launch.actions.IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
            # 使用 Launch 参数替换原有参数
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        ),
        launch_ros.actions.Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])
odom_ekf.launch.py

                code_text

                import launch
import launch_ros


def generate_launch_description():
    package_name = 'xbwbot_navigation2'

    ld =  launch.LaunchDescription()
    pkg_share = launch_ros.substitutions.FindPackageShare(package=package_name).find(package_name) 

    robot_localization_node = launch_ros.actions.Node(
        package='robot_localization',
        executable='ekf_node',
        name='ekf_filter_node',
        output='screen',
        parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': launch.substitutions.LaunchConfiguration('use_sim_time')}],
        remappings=[('odometry/filtered', 'odom')],
    )

    
    ld.add_action(launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                                description='Flag to enable use_sim_time'))
    ld.add_action(robot_localization_node)                                           
    return ld
                小鱼小 1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @1257261547
                  最后由 编辑

                  @1257261547 这个是电脑的发布的话题，不是小车发的，这样查不对

                  新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                  1 条回复 最后回复 回复 引用 0
                  • 小鱼小
                    小鱼 技术大佬 @1257261547
                    最后由 编辑

                    @1257261547 你先切回不融合的导航，判断一下小车这边有没有问题

                    新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

                    1 1 条回复 最后回复 回复 引用 0
                    • 1
                      1257261547 @小鱼
                      最后由 编辑

                      @小鱼 fb6ab0fc-aae9-4e30-8e9f-62556ac6fe10-图片.png
                      启动bringup.launch.py后rqt图像，导航也不能正常运行

                      1 1 条回复 最后回复 回复 引用 0
                      • 1
                        1257261547 @1257261547
                        最后由 编辑

                        @1257261547 89793abb-de57-486a-836b-49d3d0d37589-图片.png

                        code_text
main.cpp
#include <Arduino.h>
#include <Esp32PcntEncoder.h>
#include <Esp32McpwmMotor.h>
#include <PidController.h>
#include <Kinematics.h>
#include <Warning.h>
#include <ImuDriver.h>

#include <WiFi.h>
#include <micro_ros_platformio.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <geometry_msgs/msg/twist.h>
#include <nav_msgs/msg/odometry.h>
#include <micro_ros_utilities/string_utilities.h>
#include <sensor_msgs/msg/imu.h>

rcl_allocator_t allocator;
rclc_support_t support;
rclc_executor_t executor;
rcl_node_t node;
rcl_subscription_t sub_cmd_vel;
geometry_msgs__msg__Twist msg_cmd_vel;

rcl_publisher_t pub_odom;
nav_msgs__msg__Odometry msg_odom;
rcl_timer_t timer;

rcl_publisher_t pub_imu; 
sensor_msgs__msg__Imu msg_imu;

Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器
Esp32McpwmMotor motor;        // 创建一个名为motor的对象，用于控制电机
PidController pid_controller[2];
Kinematics kinematics;
MPU6050 mpu(Wire);               // 初始化MPU6050对象
ImuDriver imu(mpu);              // 初始化Imu对象
imu_t imu_data;                  // IMU 数据对象

float target_linear_speed = 20.0; // 单位 毫米每秒
float target_angular_speed = 0.1; // 单位 弧度每秒
float out_left_speed = 0.0;       // 输出的左右轮速度，不是反馈的左右轮速度
float out_right_speed = 0.0;

void start()
{
    pinMode(TRIG, OUTPUT);
    pinMode(ECHO, INPUT);
    pinMode(WARN, OUTPUT);
}

void timer_callback(rcl_timer_t* timer,int64_t last_call_time)
{
    odom_t odom = kinematics.get_odom();
    int64_t stamp = rmw_uros_epoch_millis();
    msg_odom.header.stamp.sec = static_cast<int32_t>(stamp/1000);
    msg_odom.header.stamp.nanosec = static_cast<int32_t>((stamp%1000)*1e6);
    msg_odom.pose.pose.position.x = odom.x;
    msg_odom.pose.pose.position.y = odom.y;
    msg_odom.pose.pose.orientation.w = cos(odom.angle*0.5);
    msg_odom.pose.pose.orientation.x = 0;
    msg_odom.pose.pose.orientation.y = 0;
    msg_odom.pose.pose.orientation.z = sin(odom.angle*0.5);
    msg_odom.twist.twist.linear.x = odom.linear_speed;
    msg_odom.twist.twist.angular.z = odom.angular_speed;

    imu.getImuDriverData(imu_data);

    msg_imu.header.stamp.sec = static_cast<int32_t>(stamp / 1000);              // 秒部分
    msg_imu.header.stamp.nanosec = static_cast<uint32_t>((stamp % 1000) * 1e6); // 纳秒部分

    msg_imu.angular_velocity.x = imu_data.angular_velocity.x;
    msg_imu.angular_velocity.y = imu_data.angular_velocity.y;
    msg_imu.angular_velocity.z = imu_data.angular_velocity.z;

    msg_imu.linear_acceleration.x = imu_data.linear_acceleration.x;
    msg_imu.linear_acceleration.y = imu_data.linear_acceleration.y;
    msg_imu.linear_acceleration.z = imu_data.linear_acceleration.z;

    msg_imu.orientation.x = imu_data.orientation.x;
    msg_imu.orientation.y = imu_data.orientation.y;
    msg_imu.orientation.z = imu_data.orientation.z;
    msg_imu.orientation.w = imu_data.orientation.w;

    if(rcl_publish(&pub_odom,&msg_odom,NULL)!=RCL_RET_OK)
    {
        Serial.printf("error: odom pub failed!");
    }

    if(rcl_publish(&pub_imu, &msg_imu, NULL)!=RCL_RET_OK)
    {
        Serial.printf("error: imu pub failed!");
    }
}

void twist_callback(const void * msg_in)
{
    const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msg_in;
    target_linear_speed = msg->linear.x*1000;
    target_angular_speed = msg->angular.z;

    kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed);
    Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed);
    pid_controller[0].update_target(out_left_speed);
    pid_controller[1].update_target(out_right_speed);
}

void microros_task(void* args)
{
    IPAddress agent_ip;
    agent_ip.fromString("192.168.188.93");
    set_microros_wifi_transports("xbw_mi","Xbw159357",agent_ip,8888);
    delay(2000);

    allocator = rcl_get_default_allocator();

    rclc_support_init(&support,0,NULL,&allocator);

    rclc_node_init_default(&node,"example_xbwbot_motion_control","",&support);

    unsigned int num_handles = 3;
    rclc_executor_init(&executor,&support.context,num_handles,&allocator);

    rclc_subscription_init_best_effort(&sub_cmd_vel,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs,msg,Twist),"/cmd_vel");
    rclc_executor_add_subscription(&executor,&sub_cmd_vel,&msg_cmd_vel,&twist_callback,ON_NEW_DATA);

    msg_odom.header.frame_id = micro_ros_string_utilities_set(msg_odom.header.frame_id,"odom");
    msg_odom.child_frame_id = micro_ros_string_utilities_set(msg_odom.child_frame_id,"base_footprint");
    msg_imu.header.frame_id = micro_ros_string_utilities_set(msg_imu.header.frame_id,"imu");
    

    rclc_publisher_init_best_effort(&pub_odom,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(nav_msgs,msg,Odometry),"/odom");
    rclc_publisher_init_best_effort(&pub_imu,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, Imu),"/imu");
    rclc_timer_init_default(&timer,&support,RCL_MS_TO_NS(50),timer_callback);
    rclc_executor_add_timer(&executor,&timer);

    while(!rmw_uros_epoch_synchronized())
    {
        rmw_uros_sync_session(1000);
        delay(10);
    }

    rclc_executor_spin(&executor);
}

// v=wr r = v/w 
void setup()
{
    // 初始化串口
    Serial.begin(115200); // 初始化串口通信，设置通信速率为115200
    // 初始化电机驱动器2
    encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
    encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
    // 初始化PID控制器的参数
    pid_controller[0].update_pid(0.625, 0.125, 0.0);
    pid_controller[1].update_pid(0.625, 0.125, 0.0);
    pid_controller[0].out_limit(-100, 100);
    pid_controller[1].out_limit(-100, 100);
    // 初始化运动学参数
    kinematics.set_wheel_distance(175); // mm
    kinematics.set_motor_param(0, 0.103657);
    kinematics.set_motor_param(1, 0.103657);
    // 测试下运动学逆解
    
    xTaskCreate(microros_task,"microros_task",10240,NULL,1,NULL);
    
    start();

    imu.begin(18, 19);
}

void loop()
{
    digitalWrite(TRIG, HIGH);
    delayMicroseconds(10);
    digitalWrite(TRIG, LOW);
    
    double delta_time = pulseIn(ECHO, HIGH);
    float detect_distance = delta_time * 0.0343 / 2;
    if(detect_distance<50)
    {
        digitalWrite(WARN,HIGH);
    }
    else
    {
        digitalWrite(WARN,LOW);
    }

    delayMicroseconds(9990);

    kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks());
    motor.updateMotorSpeed(0, pid_controller[0].update(kinematics.get_motor_speed(0)));
    motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1)));
    // Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1));
    // Serial.printf("x,y,yaw=%f,%f,%f\n",kinematics.get_odom().x,kinematics.get_odom().y,kinematics.get_odom().angle);
    imu.update();
}

                        我使用的main.cpp，PidController.h和PidController.h与第九章的代码相同，ImuDriver.h和.cpp是从https://github.dev/fishros/fishbot_motion_control_microros复制过来的。

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