硬件環(huán)境：M4傳感采集板，F(xiàn)irefly控制板、筆記本電腦、Wifi
編程語言：Python

通信過程：

M4采集傳感器信號(hào)，傳感器信號(hào)通過M4的以太網(wǎng)接口通過網(wǎng)線傳輸至Firefly控制板，控制板接受M4的傳感器信號(hào)后，對信號(hào)進(jìn)行解碼，發(fā)送返回信號(hào)回M4，并將數(shù)據(jù)發(fā)布在ROS指定話題上，同wifi局域網(wǎng)下的筆記本電腦LT-0079通過訂閱話題信息獲得傳感器數(shù)據(jù)。

操作步驟：

1.通信環(huán)境配置：

1.1 Firefly端(主控板):

1.1.1設(shè)置Firefly的wifi網(wǎng)絡(luò)IP地址

    IPV4 Settings：Manual
    Address：192.168.20.133  
    Netmask：255.255.255.0
    Gateway：192.168.20.1

1.1.2 設(shè)置Firefly的host

sudo vim /etc/hosts

    192.168.20.133  firefly     # (本機(jī)ip)，中間tab隔開
    192.168.20.135  LT-0079         #(服務(wù)器IP)

1.1.3 設(shè)置firefly的ros環(huán)境（以LT-0079為主機(jī)）

vim ~/bashrc -->添加

    export ROS_HOSTNAME=firefly
    export ROS_MASTER_URI=http://LT-0079:11311

1.2 PC端：

1.2.1設(shè)置LT-0079的wifi網(wǎng)絡(luò)IP地址

    IPV4 Settings：Manual
    Address：192.168.20.135 
    Netmask：255.255.255.0
    Gateway：192.168.20.1

1.2.2 設(shè)置LT-0079的host

sudo vim /etc/hosts

    192.168.20.133  firefly 
    192.168.20.135  LT-0079 

1.2.3 設(shè)置LT-0079的ros環(huán)境（以LT-0079為主機(jī)）

vim ~/bashrc -->添加

    export ROS_HOSTNAME=LT-0079
    export ROS_MASTER_URI=http://LT-0079:11311

2.firefly上編寫與M4網(wǎng)口通信程序

2.1.新建workspace

mkdir -p ~/ros_newlife/src
catkin_init_worksapce

2.2.創(chuàng)建package

catkin_creat_pkg M4_Ros rospy roscpp message_generation

2.3更改package.xml文件與CMakeList.txt

vim ~/workspace/src/package_name/package.xml

<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>

vim ~/workspace/src/package_name/CMakelist

find_package(catkin REQUIRED COMPONENTS roscpp rospy  std_msgs message_generation)
generate_messages(  DEPENDENCIES  std_msgs)
add_message_files(  FILES  M4_Sensor.msg)

2.4 新建msg文件

mkdir msg
vim msg/M4_Sensor.msg

int32 Start
int32 Start
int12 Count
int12 Red_Dis1
int12 Red_Dis2
int12 Red_Dis3
int12 Red_Dis4
int12 Ult_Dis1
int12 Ult_Dis2
int12 Ult_Dis3
int12 Ult_Dis4
int12 Red_Hum1
int12 Red_Hum2
int12 Red_Hum3
int12 Red_Hum4
int12 Voice1
int12 Voice2
int12 Voice3
int12 Voice4
int12 Voice5
int12 Voice6
int12 Fsr_Head
int12 Fsr_Lwing
int12 Fsr_Rwing
int12 Fsr_Front
int12 Fsr_Back
int12 Check

2.5 編寫主程序

vim src/M4Sensor_Publisher.py

#!/usr/bin/python
# -*- coding: utf-8 -*-

#Author: zhouwei
#Date: 20160307

import time
import socket
import rospy
from M4_Ros.msg import M4_Sensor
import json


######################tcp socket addr setting
HOST='192.168.2.4'
PORT=8008
BUFFER=4096
#####################tcp socket start
        sock=socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock.bind((HOST,PORT))
sock.listen(5)
print 'i am listening'
con,addr=sock.accept()

################ros begining
rospy.init_node('M4Sensor_Pub',anonymous=0)
pub=rospy.Publisher('M4Sensor',M4_Sensor,queue_size=10)

while not rospy.is_shutdown():
    try:
        con.settimeout(5)
        buf=con.recv(BUFFER)
        if len(buf) != 0:
        Sensor=M4_Sensor()
            buf_array=json.loads(buf)
            Sensor.Start=buf_array[0]
            Sensor.Count=buf_array[1]
            Sensor.Red_Dis1=buf_array[2]
            Sensor.Red_Dis2=buf_array[3]
            Sensor.Red_Dis3=buf_array[4]
            Sensor.Red_Dis4=buf_array[5]
            Sensor.Ult_Dis1=buf_array[6]
            Sensor.Ult_Dis2=buf_array[7]
            Sensor.Ult_Dis3=buf_array[8]
            Sensor.Ult_Dis4=buf_array[9]
            Sensor.Red_Hum1=buf_array[10]
            Sensor.Red_Hum2=buf_array[11]
            Sensor.Red_Hum3=buf_array[12]
            Sensor.Red_Hum4=buf_array[13]
            Sensor.Voice1=buf_array[14]
            Sensor.Voice2=buf_array[15]
            Sensor.Voice3=buf_array[16]
            Sensor.Voice4=buf_array[17]
            Sensor.Voice5=buf_array[18]
            Sensor.Voice6=buf_array[19]
            Sensor.Fsr_Head=buf_array[20]
            Sensor.Fsr_Lwing=buf_array[21]
            Sensor.Fsr_Rwing=buf_array[22]
            Sensor.Fsr_Front=buf_array[23]
            Sensor.Fsr_Back=buf_array[24]
            Sensor.Check=buf_array[25]
            rospy.loginfo('Data is %s'% Sensor)
            pub.publish(Sensor)
            con.send('yes')
        else:
            print('no data')
            con.send('out of client')
            con.close()
            con,addr=sock.accept()
    except socket.timeout:
        print 'time out'

2.6 make文件

chmod +x ~/ros_newlife/src/M4_Ros/src/M4Sensor_Publisher.py

cd ~/ros_newlife | catkin_make

3. LT-0079上編寫服務(wù)器接受程序

3.1.新建workspace

mkdir -p ~/ros_newlife/src

catkin_init_worksapce

3.2.創(chuàng)建package

catkin_creat_pkg V6demo rospy roscpp message_generation

3.3更改package.xml文件與CMakeList.txt

vim ~/ros_newlife/src/V6demo/package.xml

<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>

vim ~/ ros_newlife/src/V6demo/CMakelist

find_package(catkin REQUIRED COMPONENTS roscpp rospy  std_msgs message_generation)
generate_messages(  DEPENDENCIES  std_msgs)
add_message_files(  FILES  M4_Sensor.msg)

3.4 新建msg文件

mkdir msg
vim msg/M4_Sensor.msg

"與firefly端一致"

3.5 編寫主程序

vim src/M4Sensor_Subscriber.py

#!/usr/bin/python
# -*- coding: utf-8 -*-

import rospy
from V6demo.msg import M4_Sensor

def callback(data):
    rospy.loginfo('i recv \n')
    rospy.loginfo(data)
    #rospy.loginfo(data.Ult_Dis1)


rospy.init_node('M4Sensor_Sub',anonymous=0)
rospy.Subscriber('M4Sensor',M4_Sensor,callback)
rospy.spin()

3.6 make文件

chmod +x ~/ros_newlife/src/V6demo/src/M4Sensor_Subscriber.py

cd ~/ros_newlife | catkin_make

4. 程序運(yùn)行

LT-0079:(遠(yuǎn)程筆記本)

Terminal 1:

rosocre

Terminal 2:

cd ~/joey_newlife
source devel/setup.bash
rosrun V6demo M4Sensor_Subscriber.py

Firefly:(本地主控板)

Terminal 1:

cd ~/joey_newlife
source devel/setup.bash
rosrun V6demo M4Sensor_Publisher.py

M4:(傳感采集板)

運(yùn)行程序....