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修改成组件形式

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This commit is contained in:
Robofish 2025-04-08 22:41:23 +08:00
parent 90c944d230
commit 7d45e841f7
5 changed files with 86 additions and 40 deletions
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39
src/unitree_motor_serial_driver/CMakeLists.txt
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@ -8,6 +8,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
# 包含 ROS 2 依赖
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rc_msgs REQUIRED)
@ -26,20 +27,38 @@ else()
set(EXTRA_LIBS libUnitreeMotorSDK_Linux64.so)
endif()
# 添加可执行文件和链接库
add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
ament_target_dependencies(goM8010_6_motor rclcpp rc_msgs)
target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
# 创建组件库
add_library(unitree_motor_components SHARED
src/unitree_motor_serial_driver.cpp
)
ament_target_dependencies(unitree_motor_components
rclcpp
rclcpp_components
rc_msgs
)
target_link_libraries(unitree_motor_components ${EXTRA_LIBS})
rclcpp_components_register_nodes(unitree_motor_components
"unitree_motor_serial_driver::MotorControlNode"
)
add_executable(unitree_motor_serial_driver src/unitree_motor_serial_driver.cpp)
ament_target_dependencies(unitree_motor_serial_driver rclcpp rc_msgs)
target_link_libraries(unitree_motor_serial_driver ${EXTRA_LIBS})
# # 创建独立可执行文件
# add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
# ament_target_dependencies(goM8010_6_motor rclcpp rc_msgs)
# target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
# 创建节点可执行文件（非组件方式）
# add_executable(unitree_motor_serial_driver_node src/unitree_motor_serial_driver_node.cpp)
# target_link_libraries(unitree_motor_serial_driver_node unitree_motor_components)
# ament_target_dependencies(unitree_motor_serial_driver_node rclcpp)
# 安装目标
install(TARGETS
goM8010_6_motor
unitree_motor_serial_driver
DESTINATION lib/${PROJECT_NAME}
# goM8010_6_motor
# unitree_motor_serial_driver_node
unitree_motor_components
RUNTIME DESTINATION lib/${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
install(DIRECTORY launch/

2
src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp
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@ -22,7 +22,7 @@ Motor_t motor[3]; // 修改为数组以支持多个电机
class MotorControlNode : public rclcpp::Node
{
public:
MotorControlNode();
explicit MotorControlNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void control_motor();

27
src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py
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@ -1,15 +1,28 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
return LaunchDescription([
Node(
container = ComposableNodeContainer(
name='motor_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='unitree_motor_serial_driver',
executable='unitree_motor_serial_driver',
plugin='unitree_motor_serial_driver::MotorControlNode',
name='unitree_motor_serial_driver',
output='screen',
parameters=[
{'serial_port': '/dev/ttyACM0'}
],
remappings=[
('data_leg_control', 'data_leg_control'),
('data_leg_motor', 'data_leg_motor')
]
)
])
],
output='screen',
)
return LaunchDescription([container])

1
src/unitree_motor_serial_driver/package.xml
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@ -10,6 +10,7 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_msgs</depend>
<depend>rc_msgs</depend>

37
src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp
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@ -1,17 +1,35 @@
#include "unitree_motor_serial_driver/unitree_motor_serial_driver.hpp"
#include "rclcpp_components/register_node_macro.hpp"
namespace unitree_motor_serial_driver
{
MotorControlNode::MotorControlNode()
: Node("unitree_motor_serial_driver"), serial_("/dev/ttyACM0")
{
MotorControlNode::MotorControlNode(const rclcpp::NodeOptions & options)
: Node("unitree_motor_serial_driver", options),
serial_("/dev/ttyACM0") // 在初始化列表中提供必要参数
{
// 声明参数
auto serial_port = this->declare_parameter("serial_port", "/dev/ttyACM0");
try {
// 用声明的参数重新初始化串口
if (serial_port != "/dev/ttyACM0") {
serial_ = SerialPort(serial_port);
}
RCLCPP_INFO(this->get_logger(), "Successfully opened serial port: %s", serial_port.c_str());
} catch (const std::exception &e) {
RCLCPP_ERROR(this->get_logger(), "Failed to open serial port: %s, error: %s",
serial_port.c_str(), e.what());
throw;
}
// 其余代码保持不变
timer_ = this->create_wall_timer(
std::chrono::microseconds(1000), std::bind(&MotorControlNode::control_motor, this));
data_control_sub_ = this->create_subscription<rc_msgs::msg::DataLeg>(
"data_leg_control", 10, std::bind(&MotorControlNode::data_control_callback, this, std::placeholders::_1));
data_motor_pub_ = this->create_publisher<rc_msgs::msg::DataLeg>("data_leg_motor", 10);
}
}
void MotorControlNode::data_control_callback(const rc_msgs::msg::DataLeg::SharedPtr msg)
{
@ -45,7 +63,7 @@ void MotorControlNode::control_motor()
cmd.dq = motor[i].cmd.dq;
cmd.tau = motor[i].cmd.tau;
if (timer_count_ > 300)
if (timer_count_ > 100)
{
Motor_Ctrl_Offline(&motor[i]);
timer_count_ = 0;
@ -98,10 +116,5 @@ void MotorControlNode::Motor_Ctrl_Offline(Motor_t *motor_s)
} // namespace unitree_motor_serial_driver
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<unitree_motor_serial_driver::MotorControlNode>());
rclcpp::shutdown();
return 0;
}
// 注册组件
RCLCPP_COMPONENTS_REGISTER_NODE(unitree_motor_serial_driver::MotorControlNode)