esp32 releases robot battery voltage to ros2 (micro-ros+CoCube)

Sample program test portad数值：

#include "Arduino.h"
#include <ESP32AnalogRead.h>
ESP32AnalogRead adc;
void setup()
{
	adc.attach(34);
	Serial.begin(115200);
}

void loop()
{
	delay(50);
	Serial.println("Voltage = "+String(adc.readVoltage()));
}

This is just a simple testadport voltage program,没有滤波,No numerical transformation is performed according to the actual situation.

34is the measurement voltage port.

初始化,adand serial port baud rate：

void setup()
{
	adc.attach(34);
	Serial.begin(115200);
}

Cycle the voltage and output the serial port,时延50ms：

void loop()
{
	delay(50);
	Serial.println("Voltage = "+String(adc.readVoltage()));
}

This is a simple voltage measurement program for a single-chip microcomputer.

Supplemental filtering and scaling are required.留作思考题.

效果如下图： 

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micro-rosAn example of publishing a message is as follows：

#include <micro_ros_arduino.h>

#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <std_msgs/msg/int32.h>

#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module
#endif

rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;

#define LED_PIN 13

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}


void error_loop(){
  while(1){
    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
    delay(100);
  }
}

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
  RCLC_UNUSED(last_call_time);
  if (timer != NULL) {
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data++;
  }
}

void setup() {
  set_microros_wifi_transports("***", "***", "***", 8888);

  pinMode(LED_PIN, OUTPUT);
  digitalWrite(LED_PIN, HIGH);

  delay(2000);

  allocator = rcl_get_default_allocator();

  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

  // create node
  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_wifi_node", "", &support));

  // create publisher
  RCCHECK(rclc_publisher_init_best_effort(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
    "topic_name"));

  msg.data = 0;
}

void loop() {
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data++;
}

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What code needs to be modified？

ROS1/2The data types in are as follows：

ROS Message Types
Bool
Byte
ByteMultiArray
Char
ColorRGBA
Duration
Empty
Float32
Float32MultiArray
Float64
Float64MultiArray
Header
Int16
Int16MultiArray
Int32
Int32MultiArray
Int64
Int64MultiArray
Int8
Int8MultiArray
MultiArrayDimension
MultiArrayLayout
String
Time
UInt16
UInt16MultiArray
UInt32
UInt32MultiArray
UInt64
UInt64MultiArray
UInt8
UInt8MultiArray

battery电池,Voltage situation：

高>4.1v为插入usb口,Low for battery power.

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需要启动agent：

参考程序如下： 

#include <micro_ros_arduino.h>

#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>

#include <std_msgs/msg/float32.h>

#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module
#endif

#define BAT_DET 34

rcl_publisher_t publisher;
std_msgs__msg__Float32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;

#define LED_PIN 13

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}


void error_loop(){
  while(1){
    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
    delay(100);
  }
}

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
  RCLC_UNUSED(last_call_time);
  if (timer != NULL) {
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data++;
  }
}

void setup() {
  set_microros_wifi_transports("***", "***", "***", 8888);

  pinMode(BAT_DET, INPUT);
  
  pinMode(LED_PIN, OUTPUT);
  digitalWrite(LED_PIN, HIGH);
  

  delay(2000);

  allocator = rcl_get_default_allocator();

  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

  // create node
  RCCHECK(rclc_node_init_default(&node, "robot_battery_wifi_node", "", &support));

  // create publisher
  RCCHECK(rclc_publisher_init_best_effort(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "robot_battery"));

  msg.data = 0.66;
}

void loop() {
    float battery = 4.21 * analogRead(BAT_DET) / 2435;
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data=battery;
    delay(1000);
}

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