实现 IMU 数据发布 + CRC
This commit is contained in:
@@ -1,4 +1,3 @@
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cmake_minimum_required(VERSION 3.8)
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project(amadeus_26)
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@@ -13,6 +12,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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# 添加 SDK 库路径
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set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
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@@ -32,9 +32,19 @@ ament_target_dependencies(uart_transmitter_node
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std_msgs
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)
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# ==================== IMU 节点 ====================
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add_executable(imu_receiver_node src/imu_receiver_node.cpp)
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ament_target_dependencies(imu_receiver_node
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rclcpp
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std_msgs
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geometry_msgs
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)
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# ==================== 安装目标 ====================
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install(TARGETS
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uart_transmitter_node
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imu_receiver_node
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DESTINATION lib/${PROJECT_NAME}
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)
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@@ -36,7 +36,7 @@ ROS2 基本架构为节点。以每个节点的发布、解析、接收数据为
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- 发布：描述该节点使用 ROS 发布的数据
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- 发送：描述该节点使用直连硬件发送的数据
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### 收发节点
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### UART 收发节点
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- 功能：主机对外通信的封装节点。物理上读取收发模块
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- 连接：CH340，协商 UART 通信速率 115200，`/dev/ttyUSB0`
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@@ -48,6 +48,10 @@ ROS2 基本架构为节点。以每个节点的发布、解析、接收数据为
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裁判系统数据（血量、比赛当前状态）
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CH340 、IMU 连接 OK 标志
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### IMU 收发节点
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- 功能：IMU 与
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### 中央节点
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- 功能：综合各类信息判断状态与转移，是控制指令发送的唯一来源
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19
docs/IMU/packet/MSG_NED_VEL.md
Normal file
19
docs/IMU/packet/MSG_NED_VEL.md
Normal file
@@ -0,0 +1,19 @@
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# MSG_NED_VEL | FDISYSTEMS支持中心
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该数据包用于描述：卡尔曼滤波融合的北东地速度
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## 基本信息
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| 属性 | 值 |
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|------|-----|
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| **Packet ID** | 0x5F |
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| **Length** | 12 |
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| **Read / Write** | Read |
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## 数据字段
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| Offset | Size | Format | Field | Unit | Description |
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|--------|------|--------|-------|------|-------------|
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| 0 | 4 | float32_t | Velocity_north | m/s | 滤波修正的北向速度 |
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| 4 | 4 | float32_t | Velocity_east | m/s 7 | 滤波修正的东向速度 |
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| 8 | 4 | float32_t | Velocity_down | m/s | 滤波修正的地向速度 |
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@@ -11,6 +11,7 @@
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<export>
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<build_type>ament_cmake</build_type>
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495
src/imu_receiver_node.cpp
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495
src/imu_receiver_node.cpp
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@@ -0,0 +1,495 @@
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/**
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* @file imu_receiver_node.cpp
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* @brief IMU NED 速度接收节点 (FDI DETA10) - 高实时性版本
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*
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* 通过串口读取 FDI DETA10 IMU 模块的北东地速度数据
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* 用于二维惯性导航
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* 波特率：921600
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* 协议：FDILink
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*
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* 数据包：MSG_NED_VEL (0x5F)
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* - Velocity_north: 北向速度 (m/s)
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* - Velocity_east: 东向速度 (m/s)
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* - Velocity_down: 地向速度 (m/s)
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*/
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#include <atomic>
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#include <cstring>
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#include <errno.h>
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#include <fcntl.h>
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#include <geometry_msgs/msg/twist.hpp>
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#include <rclcpp/rclcpp.hpp>
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#include <std_msgs/msg/bool.hpp>
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#include <std_msgs/msg/float32.hpp>
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#include <termios.h>
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#include <thread>
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#include <unistd.h>
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#include <vector>
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// FDI Link 帧定义
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constexpr uint8_t FRAME_START = 0xFC;
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constexpr uint8_t FRAME_END = 0xFD;
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// 数据包 ID - 只保留 NED 速度
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constexpr uint8_t MSG_NED_VEL = 0x5F; // 卡尔曼滤波融合的北东地速度
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// 默认串口设备
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constexpr const char *DEFAULT_SERIAL_PORT = "/dev/ttyUSB1";
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constexpr int DEFAULT_BAUDRATE = 921600;
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// 串口读取缓冲区大小 (921600bps ≈ 115KB/s, 缓冲区需要足够大)
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constexpr size_t SERIAL_READ_BUF_SIZE = 4096;
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constexpr size_t MAX_FRAME_SIZE = 256;
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// CRC8 查找表
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static const uint8_t CRC8Table[] = {
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0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31,
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65, 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96,
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130, 220, 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128,
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222, 60, 98, 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158,
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29, 67, 161, 255, 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56,
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102, 229, 187, 89, 7, 219, 133, 103, 57, 186, 228, 6, 88, 25, 71,
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165, 251, 120, 38, 196, 154, 101, 59, 217, 135, 4, 90, 184, 230, 167,
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249, 27, 69, 198, 152, 122, 36, 248, 166, 68, 26, 153, 199, 37, 123,
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58, 100, 134, 216, 91, 5, 231, 185, 140, 210, 48, 110, 237, 179, 81,
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15, 78, 16, 242, 172, 47, 113, 147, 205, 17, 79, 173, 243, 112, 46,
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204, 146, 211, 141, 111, 49, 178, 236, 14, 80, 175, 241, 19, 77, 206,
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144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238, 50, 108, 142, 208,
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83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115, 202, 148, 118,
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40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139, 87, 9,
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235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22, 233,
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183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
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116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107,
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53};
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// CRC16 查找表
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static const uint16_t CRC16Table[256] = {
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0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108,
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0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, 0x1231, 0x0210,
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0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B,
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0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, 0x2462, 0x3443, 0x0420, 0x1401,
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0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE,
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0xF5CF, 0xC5AC, 0xD58D, 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6,
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0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D,
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0xC7BC, 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
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0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, 0x5AF5,
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0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC,
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0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, 0x6CA6, 0x7C87, 0x4CE4,
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0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD,
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0xAD2A, 0xBD0B, 0x8D68, 0x9D49, 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13,
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0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A,
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0x9F59, 0x8F78, 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E,
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0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
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0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1,
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0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, 0xB5EA, 0xA5CB,
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0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0,
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0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xA7DB, 0xB7FA, 0x8799, 0x97B8,
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0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657,
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0x7676, 0x4615, 0x5634, 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9,
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0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882,
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0x28A3, 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
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0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, 0xFD2E,
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0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07,
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0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, 0xEF1F, 0xFF3E, 0xCF5D,
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0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74,
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0x2E93, 0x3EB2, 0x0ED1, 0x1EF0};
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class ImuReceiverNode : public rclcpp::Node {
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public:
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ImuReceiverNode() : Node("imu_receiver_node") {
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// 声明参数
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this->declare_parameter("serial_port", DEFAULT_SERIAL_PORT);
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this->declare_parameter("baudrate", DEFAULT_BAUDRATE);
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this->declare_parameter("verbose", true); // 是否输出详细日志
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this->declare_parameter("enable_crc", false); // 是否启用CRC校验（默认关闭）
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// 获取参数
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serial_port_ = this->get_parameter("serial_port").as_string();
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baudrate_ = this->get_parameter("baudrate").as_int();
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enable_crc_ = this->get_parameter("enable_crc").as_bool();
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RCLCPP_INFO(this->get_logger(), "=================================");
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RCLCPP_INFO(this->get_logger(), "IMU NED 速度接收节点启动 (高实时性版本)");
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RCLCPP_INFO(this->get_logger(), "串口: %s", serial_port_.c_str());
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RCLCPP_INFO(this->get_logger(), "波特率: %d", baudrate_);
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RCLCPP_INFO(this->get_logger(), "CRC校验: %s",
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enable_crc_ ? "启用" : "禁用");
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RCLCPP_INFO(this->get_logger(), "=================================");
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// 创建发布者
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ned_vel_pub_ = this->create_publisher<geometry_msgs::msg::Twist>(
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"imu/ned_velocity", 10);
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vel_north_pub_ = this->create_publisher<std_msgs::msg::Float32>(
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"imu/velocity_north", 10);
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vel_east_pub_ =
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this->create_publisher<std_msgs::msg::Float32>("imu/velocity_east", 10);
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connection_status_pub_ = this->create_publisher<std_msgs::msg::Bool>(
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"imu/connection_status", 10);
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// 初始化串口
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if (!initSerial()) {
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RCLCPP_ERROR(this->get_logger(), "串口初始化失败，节点退出");
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rclcpp::shutdown();
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return;
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}
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// 创建接收线程
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receive_thread_ = std::thread(&ImuReceiverNode::receiveLoop, this);
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// 创建状态发布定时器
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status_timer_ = this->create_wall_timer(
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std::chrono::seconds(1),
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std::bind(&ImuReceiverNode::publishStatus, this));
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RCLCPP_INFO(this->get_logger(), "IMU 节点初始化完成");
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}
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~ImuReceiverNode() {
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running_ = false;
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if (receive_thread_.joinable()) {
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receive_thread_.join();
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}
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if (serial_fd_ >= 0) {
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close(serial_fd_);
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}
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RCLCPP_INFO(this->get_logger(), "IMU 串口已关闭");
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}
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private:
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bool initSerial() {
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RCLCPP_INFO(this->get_logger(), "正在打开 IMU 串口 %s...",
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serial_port_.c_str());
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serial_fd_ = open(serial_port_.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
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if (serial_fd_ < 0) {
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RCLCPP_ERROR(this->get_logger(), "无法打开串口 %s: %s",
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serial_port_.c_str(), strerror(errno));
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return false;
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}
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struct termios tty;
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memset(&tty, 0, sizeof(tty));
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if (tcgetattr(serial_fd_, &tty) != 0) {
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RCLCPP_ERROR(this->get_logger(), "tcgetattr 错误: %s", strerror(errno));
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close(serial_fd_);
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serial_fd_ = -1;
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return false;
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}
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speed_t baud = convertBaudrate(baudrate_);
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cfsetospeed(&tty, baud);
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cfsetispeed(&tty, baud);
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tty.c_cflag &= ~PARENB;
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tty.c_cflag &= ~CSTOPB;
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tty.c_cflag &= ~CSIZE;
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tty.c_cflag |= CS8;
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tty.c_cflag |= CREAD | CLOCAL;
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tty.c_cflag &= ~CRTSCTS;
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tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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tty.c_iflag &= ~(IXON | IXOFF | IXANY);
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tty.c_oflag &= ~OPOST;
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// 非阻塞读取，最小读取0字节，超时0
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tty.c_cc[VMIN] = 0;
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tty.c_cc[VTIME] = 0;
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if (tcsetattr(serial_fd_, TCSANOW, &tty) != 0) {
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RCLCPP_ERROR(this->get_logger(), "tcsetattr 错误: %s", strerror(errno));
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close(serial_fd_);
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serial_fd_ = -1;
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return false;
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}
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tcflush(serial_fd_, TCIOFLUSH);
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RCLCPP_INFO(this->get_logger(), "IMU 串口打开成功");
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is_connected_ = true;
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return true;
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}
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speed_t convertBaudrate(int baudrate) {
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switch (baudrate) {
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case 9600:
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return B9600;
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case 19200:
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return B19200;
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case 38400:
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return B38400;
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case 57600:
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return B57600;
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case 115200:
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return B115200;
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case 230400:
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return B230400;
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case 460800:
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return B460800;
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case 921600:
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return B921600;
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default:
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return B921600;
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}
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}
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uint8_t calculateCRC8(const uint8_t *data, uint8_t len) {
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uint8_t crc8 = 0;
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for (uint8_t i = 0; i < len; i++) {
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crc8 = CRC8Table[crc8 ^ data[i]];
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}
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return crc8;
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}
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uint16_t calculateCRC16(const uint8_t *data, uint8_t len) {
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uint16_t crc16 = 0;
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for (uint8_t i = 0; i < len; i++) {
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crc16 = CRC16Table[((crc16 >> 8) ^ data[i]) & 0xFF] ^ (crc16 << 8);
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}
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return crc16;
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}
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// 接收循环
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void receiveLoop() {
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// 使用双缓冲区策略：一个用于接收，一个用于处理
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std::vector<uint8_t> rx_buffer;
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rx_buffer.reserve(SERIAL_READ_BUF_SIZE * 2);
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// 临时读取缓冲区
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uint8_t read_buf[SERIAL_READ_BUF_SIZE];
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// 帧解析状态
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bool in_frame = false;
|
||||
std::vector<uint8_t> current_frame;
|
||||
current_frame.reserve(MAX_FRAME_SIZE);
|
||||
|
||||
while (running_ && rclcpp::ok()) {
|
||||
// 批量读串口数据
|
||||
ssize_t n = read(serial_fd_, read_buf, sizeof(read_buf));
|
||||
|
||||
if (n > 0) {
|
||||
// 将新数据追加到缓冲区
|
||||
rx_buffer.insert(rx_buffer.end(), read_buf, read_buf + n);
|
||||
|
||||
// 处理缓冲区中的数据
|
||||
size_t i = 0;
|
||||
while (i < rx_buffer.size()) {
|
||||
uint8_t byte = rx_buffer[i];
|
||||
|
||||
if (!in_frame) {
|
||||
// 查找帧头
|
||||
if (byte == FRAME_START) {
|
||||
// 检查是否有足够的字节来读取帧头信息
|
||||
if (i + 5 <= rx_buffer.size()) {
|
||||
// 读取帧头信息
|
||||
uint8_t msg_id = rx_buffer[i + 1];
|
||||
uint8_t data_len = rx_buffer[i + 2];
|
||||
uint8_t seq = rx_buffer[i + 3];
|
||||
uint8_t header_crc = rx_buffer[i + 4];
|
||||
|
||||
// 可选的CRC校验
|
||||
bool header_valid = true;
|
||||
if (enable_crc_) {
|
||||
uint8_t header[4] = {FRAME_START, msg_id, data_len, seq};
|
||||
header_valid = (calculateCRC8(header, 4) == header_crc);
|
||||
}
|
||||
|
||||
if (header_valid) {
|
||||
// 开始收集帧数据
|
||||
in_frame = true;
|
||||
current_frame.clear();
|
||||
current_frame.push_back(FRAME_START);
|
||||
current_frame.push_back(msg_id);
|
||||
current_frame.push_back(data_len);
|
||||
current_frame.push_back(seq);
|
||||
current_frame.push_back(header_crc);
|
||||
|
||||
// 计算还需要读取多少字节
|
||||
size_t total_frame_len =
|
||||
5 + 2 + data_len + 1; // 头+CRC16+数据+尾
|
||||
size_t remaining = total_frame_len - 5; // 已经读取了5字节
|
||||
|
||||
// 检查缓冲区中是否有足够的数据
|
||||
if (i + 5 + remaining <= rx_buffer.size()) {
|
||||
// 数据足够，直接复制剩余部分
|
||||
current_frame.insert(current_frame.end(),
|
||||
rx_buffer.begin() + i + 5,
|
||||
rx_buffer.begin() + i + 5 + remaining);
|
||||
|
||||
// 检查帧尾
|
||||
if (current_frame.back() == FRAME_END) {
|
||||
// 解析帧
|
||||
processFrame(current_frame);
|
||||
}
|
||||
// 无论是否有帧尾，都结束当前帧处理
|
||||
in_frame = false;
|
||||
i += total_frame_len;
|
||||
continue;
|
||||
} else {
|
||||
// 数据不够，需要等待更多数据
|
||||
// 删除已处理的部分，保留当前帧的后续数据
|
||||
rx_buffer.erase(rx_buffer.begin(), rx_buffer.begin() + i);
|
||||
i = 5; // 保留当前帧头
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
i++;
|
||||
} else {
|
||||
// 已经在帧中，继续收集数据
|
||||
current_frame.push_back(byte);
|
||||
|
||||
// 检查是否到达帧尾
|
||||
if (byte == FRAME_END) {
|
||||
// 解析帧
|
||||
processFrame(current_frame);
|
||||
in_frame = false;
|
||||
i++;
|
||||
} else if (current_frame.size() >= MAX_FRAME_SIZE) {
|
||||
// 帧太长，丢弃
|
||||
in_frame = false;
|
||||
i++;
|
||||
} else {
|
||||
i++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 如果不在帧中且缓冲区太大，清理旧数据
|
||||
if (!in_frame && rx_buffer.size() > SERIAL_READ_BUF_SIZE) {
|
||||
// 保留最后一部分数据，可能包含不完整的帧头
|
||||
if (rx_buffer.size() > 100) {
|
||||
rx_buffer.erase(rx_buffer.begin(), rx_buffer.end() - 100);
|
||||
}
|
||||
}
|
||||
} else if (n < 0 && errno != EAGAIN && errno != EWOULDBLOCK) {
|
||||
// 读取错误
|
||||
RCLCPP_ERROR(this->get_logger(), "串口读取错误: %s", strerror(errno));
|
||||
}
|
||||
// n == 0 或 EAGAIN: 没有数据可读，继续循环（无sleep，保证实时性）
|
||||
}
|
||||
}
|
||||
|
||||
// 处理完整的一帧数据
|
||||
void processFrame(const std::vector<uint8_t> &frame) {
|
||||
// 最小帧长度检查：头(5) + CRC16(2) + 尾(1) = 8
|
||||
if (frame.size() < 8)
|
||||
return;
|
||||
|
||||
// 检查帧尾
|
||||
if (frame.back() != FRAME_END)
|
||||
return;
|
||||
|
||||
uint8_t msg_id = frame[1];
|
||||
uint8_t data_len = frame[2];
|
||||
|
||||
// 验证数据长度
|
||||
size_t expected_len = 5 + 2 + data_len + 1;
|
||||
if (frame.size() != expected_len)
|
||||
return;
|
||||
|
||||
// 可选的数据CRC校验
|
||||
if (enable_crc_) {
|
||||
uint16_t data_crc = (frame[5] << 8) | frame[6];
|
||||
uint16_t calc_crc = calculateCRC16(frame.data() + 7, data_len);
|
||||
if (data_crc != calc_crc)
|
||||
return;
|
||||
}
|
||||
|
||||
// 解析数据包
|
||||
parsePacket(msg_id, frame.data() + 7, data_len);
|
||||
}
|
||||
|
||||
void parsePacket(uint8_t msg_id, const uint8_t *data, uint8_t len) {
|
||||
if (msg_id == MSG_NED_VEL) {
|
||||
parseNEDVelocity(data, len);
|
||||
}
|
||||
}
|
||||
|
||||
// 解析 NED 速度数据
|
||||
void parseNEDVelocity(const uint8_t *data, uint8_t len) {
|
||||
if (len < 12)
|
||||
return;
|
||||
|
||||
float vel_north = *reinterpret_cast<const float *>(data);
|
||||
float vel_east = *reinterpret_cast<const float *>(data + 4);
|
||||
float vel_down = *reinterpret_cast<const float *>(data + 8);
|
||||
|
||||
// 发布 Twist 消息
|
||||
geometry_msgs::msg::Twist twist_msg;
|
||||
twist_msg.linear.x = vel_north; // 北向速度
|
||||
twist_msg.linear.y = vel_east; // 东向速度
|
||||
twist_msg.linear.z = vel_down; // 地向速度
|
||||
|
||||
ned_vel_pub_->publish(twist_msg);
|
||||
|
||||
// 单独发布北向和东向速度（方便二维导航使用）
|
||||
std_msgs::msg::Float32 north_msg;
|
||||
north_msg.data = vel_north;
|
||||
vel_north_pub_->publish(north_msg);
|
||||
|
||||
std_msgs::msg::Float32 east_msg;
|
||||
east_msg.data = vel_east;
|
||||
vel_east_pub_->publish(east_msg);
|
||||
|
||||
// 增加接收计数
|
||||
ned_vel_received_count_++;
|
||||
|
||||
// 根据 verbose 参数输出日志
|
||||
bool verbose = this->get_parameter("verbose").as_bool();
|
||||
if (verbose) {
|
||||
RCLCPP_INFO(this->get_logger(),
|
||||
"NED速度 - 北向: %.3f, 东向: %.3f, 地向: %.3f m/s", vel_north,
|
||||
vel_east, vel_down);
|
||||
} else {
|
||||
RCLCPP_DEBUG(this->get_logger(),
|
||||
"NED速度 - 北向: %.3f, 东向: %.3f, 地向: %.3f m/s",
|
||||
vel_north, vel_east, vel_down);
|
||||
}
|
||||
}
|
||||
|
||||
void publishStatus() {
|
||||
auto msg = std_msgs::msg::Bool();
|
||||
msg.data = is_connected_ && (serial_fd_ >= 0);
|
||||
connection_status_pub_->publish(msg);
|
||||
|
||||
if (is_connected_) {
|
||||
RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 5000,
|
||||
"IMU NED 速度接收正常 - 累计接收数据包: %zu",
|
||||
ned_vel_received_count_.load());
|
||||
}
|
||||
}
|
||||
|
||||
// 成员变量
|
||||
std::string serial_port_;
|
||||
int baudrate_;
|
||||
bool enable_crc_ = true; // CRC校验开关
|
||||
|
||||
int serial_fd_ = -1;
|
||||
bool is_connected_ = false;
|
||||
std::atomic<bool> running_{true};
|
||||
std::thread receive_thread_;
|
||||
|
||||
// 统计信息
|
||||
std::atomic<size_t> ned_vel_received_count_;
|
||||
|
||||
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr ned_vel_pub_;
|
||||
rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr vel_north_pub_;
|
||||
rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr vel_east_pub_;
|
||||
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr connection_status_pub_;
|
||||
rclcpp::TimerBase::SharedPtr status_timer_;
|
||||
};
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
rclcpp::init(argc, argv);
|
||||
|
||||
auto node = std::make_shared<ImuReceiverNode>();
|
||||
|
||||
if (rclcpp::ok()) {
|
||||
rclcpp::spin(node);
|
||||
}
|
||||
|
||||
rclcpp::shutdown();
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user