learning ros

Tue, 17 May 2022 23:55:58 +0800

“learning ROS”

mkdir -p demo01_ws/src
cd demo01_ws/
catkin_make
cd src
catkin_create_pkg helloworld roscpp rospy std_msg

#include "ros/ros.h"
int main (int argc, char *argv[])
{
 ros::init(argc, argv, "hello_node");
 ROS_INFO("hello world");
 return 0;
}

add_executable(haha src/helloworld_c.cpp)
target_link_libraries(haha ${catkin_LIBRARIES})

roscore
source ./devel/setup.bash
rosrun helloworld haha

<launch>
 <node pkg = "turtlesim" type = "turtlesim_node" name = "turtle_GUI"/>
 <node pkg = "turtlesim" type = "turtle_teleop_key" name = "turtle_key"/>
 <node pkg = "hello_vscode" type = "hello_vscode_c" name = "hello" output = "screen"/>
</launch>

rospack list
rospack find turtlesim
roscd turtlesim
rosls turtlesim
apt search ros-noetic-* | grep -i gmapping
rosrun rqt_grah rqt_grah

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

int main (int argc, char *argv[])
{
 ros::init(argc, argv, "erGouZi");
 ros::NodeHandle nh;
 ros::Publisher pub = nh.advertise<std_msgs::String>("fang", 10);
 std_msgs::String msg;
 ros::Rate rate(10);
 int count = 0;
 ros::Duration(3).sleep();
 while (ros::ok())
 {
 count++;

 std::stringstream ss;
 ss << "hello --->" << count;
 //msg.data = "hello";
 msg.data = ss.str();
 pub.publish = (msg);
 ROS_INFO("The published data is:%s", ss.str().c_str());
 rate.sleep();
 }
 return 0;
}

add_executable(demo01_pub src.demo01_pub.cpp)
target_link_libraries(demo01_pub ${catkin_LIBRARIES})

#include "ros/ros.h"
#include "std_msgs/String.h"

void doMsg(const std_msgs::String::ConstPtr &msg)
{
 ROS_INFO("cuiHua subsription data:%s", msg->data.c_str())
}

int main(int argc, char *argv[])
{
 ros::init(argc, argv, "cuiHua");
 ros::NodeHandle nh;
 ros::Subscriber sub = nh.subcribe("fang", 10, doMsg);
 ros::spin();
 return 0;
}

add_executable(demo02_sub src/deom02_sub.cpp)
target_link_libraries(demo01_pub ${catkin_LIBARIES})

rqt_graph

Person.msg

string name
int32 age
float32 height

package.xml

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

CMakeLists.txt

find_package(cakin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
add_message_files(
FILES
Person.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
)

demo3_pub_person.cpp

#include "ros/ros.h"
#include "plumbing_pub_sub/Person.h"

/*
 publisher:The publisher's message
 1.Include header files
 #include "plumbing_pub_sub/Person.h"
 2.Initialize the ROS node
 3.Create a node handle
 4.Create a publisher object
 5.Write release logic and release data
*/
int main(int argc, char *argv[])
{

 setlocale(LC_ALL, "");
 ROS_INFO("This is the publisher of the message")
 // 2.Initialize the ROS node
 ros::init(argc, argv, "banZhuRen");
 // 3.Create a node handle
 ros::NodeHandle nh;
 // 4.Create a publisher object
 ros::Publisher pub = nh.advertise<plumbing_pub_sub::Person>("liaoTian", 10);
 // 5.Write release logic and release data
 // 5-1.Create published data
 plumbing_pub_sub::Person person;
 person.name = "single";
 person.age = 1;
 person.height = 1.73;
 // 5-2.Setting the publication frequency

 ros::Rate rate(1);
 // 5-3.Circular release the data
 while(ros::ok())
 {
 person.age += 1;
 pub.publish(person);
 ROS_INFO("Published message:%s,%d,%.2f", person.name.c_str(), person.age, person.height);
 rate.sleep();
 ros::spinOnce();
 }
 return 0;
}

CMakeLists.txt

add_executable(demo03_pub_person src/demo03_pub_person.cpp)
target_link_libraries(demo03_pub_person ${catkin_LIBRARIES})
add_dependencies(demo03_pub_person ${PROJECT_NAME}_generate_messages_cpp)

souce ./devel/setup.bash
rostopic echo liaoTian

demo04_sub_person.cpp

#include "ros/ros.h"
#include "plumbing_pub_sub/Person.h"

/*
 Subscriber:Subscribes to message
 1.Include header files
 #include "plumbing_pub_sub/Person.h"
 2.Initialize the ROS node
 3.Create a node handle
 4.Create a subsriber object
 5.Process subscription data
 6.Call the 'spin()' function
*/
void doPerson(const plumbing_pub_sub::Person::ConstPtr& person)
{
 ROS_INFO("Subscriber information:%s,%d,%.2f", person->name.c_str(), person->age, person->height)
}
int main(int argc, char *argv[])
{
 setlocale(LC_ALL, "");
 ROS_IFNO("Subscriber implementation");
 // 2.Initialize the ROS node
 ros::init(argc, argv, "jiaZhang");
 // 3.Create a node handle
 ros::NodeHandle nh;
 // 4.Create a subsriber object
 ros::Subscriber sub = nh.subscribe("liaoTian", 10, doPerson);
 ros::spin();
 return 0;
}

CMakeLists.txt

add_executable(demo04_sub_person src/demo04_sub_person.cpp)
add_dependencies(demo04_sub_person ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(demo04_sub_person ${catkin_LIBRARIES})

rqt_graph

AddInts.srv

int32 numl1
int32 numl2
---
int32 sum

package.xml

<bulid_depend>message_generation</bulid_depend>
<exec_depend>message_runtime</exec_depend>

CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
 roscpp
 rospy
 std_msgs
 message_generation
)

add_service_files(
 FILES
 AddInts.srv
)

generate_messages(
 DEPENDENCIES
 std_msgs
)

catkin_package(
CATKIN_DEPENDA roscpp rospy std_msgs message_runtime
)

demo01_server.cpp

#include "ros/ros.h"
#include "plumbing_server_client/ADDInts.h"

/*
 Server-side implementation:parses the data submitted by the client, calculates and generates a response


*/
bool doNums(plumbing_server_client::AddInts::Request &request,
 plumbing_server_client::AddInts::Response &response)
{
 int num1 = request.num1;
 int num2 = request.num2;
 ROS_INFO("Request data received:num1 = %d, num2 = %d", num1, num2);
 int sum = num1 + num2;
 response.sum = sum;
 ROS_INFO("Sum result: sum = %d", sum);
 return true;
}
int main(int argc, char *argv[])
{
 setlocale(LC_ALL,"");
 ros::init(argc, argv, "heiShui");
 ros::NodeHandle nh;
 ros::ServiceServer server = nh.advertiseService("addInts", doNums);
 ros::spin();

}

CMakeLists.txt

add_executable(demo01_server src/demo01_server.cpp)
add_dependencies(demo01_server ${PROHECT_NAME}_gencpp)
target_link_libraries(demo01_server
 ${catkin_LIBRARIES}
)

<robot name = "mycar">
 <link name = "base_footprint">
 <visual>
 <geometry>
 <box size = "0.0001 0.0001 0.0001" />
 <!-- <cylinder radius = "0.1" length = "2"/> -->
 <!-- <sphere radius = "1" /> -->
 </geometry>

 </visual>
 </link>


 <link name = "base_link">
 <visual>
 <geometry>
 <box size = "0.3 0.2 0.1" />
 <!-- <cylinder radius = "0.1" length = "2"/> -->
 <!-- <sphere radius = "1" /> -->
 </geometry>
 <origin xyz = "0 0 0" rpy = "0 0 0"/>
 <material name = "car_color">
 <color rgba = "0.5 0.3 0.7 0.5"/>
 </material>

 </visual>
 </link>
 <link name = "camera">
 <visual>
 <geometry>
 <box size = "0.02 0.05 0.05" />
 <!-- <cylinder radius = "0.1" length = "2"/> -->
 <!-- <sphere radius = "1" /> -->
 </geometry>
 <origin xyz = "0 0 0.025" rpy = "0 0 0"/>
 <material name = "camare_color">
 <color rgba = "0.7 0.2 0.3 0.5"/>
 </material>

 </visual>
 </link>
 <joint name = "link2footprint" type = "fixed">
 <parent link = "base_footprint"/>
 <child link = "base_link"/>
 <origin xyz = "0 0 0.05" rpy = "0 0 0"/>

 </joint>
 <joint name = "camera2base" type = "continuous">
 <parent link = "base_link"/>
 <child link = "camera"/>
 <origin xyz = "0.12 0 0.05" rpy = "0 0 0"/>
 <axis xyz = "0 0 1"/>
 </joint>
</robot>

foc

Tue, 12 Apr 2022 16:30:00 +0800

“learning foc”

代码

int Vd = 0;
int Vq = 1;
float theta = 0.0;
float Valpha = 0.0;
float Vbeta = 0.0;
float out1 = 0.0;
float out2 = 0.0;
float out3 = 0.0;

 while (1)
 {
 theta = angle;

 Valpha = Vd * cos(theta) - Vq * sin(theta);
 Vbeta = Vd * sin(theta) + Vq * cos(theta);

 out1 = Valpha;
 out2 = (-Valpha + Vbeta * sqrt(3)) / 2;
 out3 = (-Valpha - Vbeta * sqrt(3)) / 2;
 //上面是为了产生三相正弦波

 TIM3->CCR1 = ((out1 + 1) / 2) * 1000;
 TIM3->CCR2 = ((out2 + 1) / 2) * 1000;
 TIM3->CCR3 = ((out3 + 1) / 2) * 1000;
//这是调制pwm

 /* USER CODE END WHILE */

 /* USER CODE BEGIN 3 */
 }

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{

 if (htim == (&htim5))
 {
 angle +=0.1;
 if (angle > 3.1415926*2)
 angle = 0;
 }
}

代码解释

首先单片机开三个pwm输出引脚。
angle 变量放在一个定时器中断里面。从0到2Π递增，到2Π归零。产生锯齿波形。锯齿波形的周期越短，得出的三相正弦波周期越短。电机转速越快。想要改变转速即改变中断的频率，即对应定时器ARR的值。==ARR越大电机转的越慢.==
后面的数学运算都是为了将Vd，Vq，angle，变成三相正弦波。控制这三个参数改变正弦波的周期，幅值。用到反park变换，反clark变换等。
最后是将产生的三相正弦波，调制成pwm波。

图像说明

Vq Vd angle 的图像：

三相正弦波图像：

pwm调制：

资料链接

【自制FOC驱动器】深入浅出讲解FOC算法与SVPWM技术 - 知乎 (zhihu.com)

FOC视频教程_哔哩哔哩_bilibili

彻底搞懂两电平SVPWM调制原理及其仿真_哔哩哔哩_bilibili

Hello World

Tue, 29 Mar 2022 22:46:10 +0800

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learning ros

foc

代码

代码解释

图像说明

资料链接

Hello World

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Run server

Generate static files

Deploy to remote sites

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