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创建C++节点

创建模板 在这里我们创建一个c++版本的标准的 ros2 节点模板。 ros2 pkg create mynode --build-type ament_cmake --dependencies rclcpp 在标准的ros2 节点模板下，生成的 CMakeLists.txt 模板文件如下： cmake_minimum_required(VERSION 3.8) project(mynode) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # comment the line when a copyright and license is added to all source files set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # comment the line when this package is in a git repo and when # a copyright and license is added to all source files set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() ament_package() 在标准的ros2 节点模板下，生成的 package.xml 模板文件如下：

Saturday, July 19, 2025 | 2 分钟 阅读
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发现设备

1. 树莓派配置 mDNS 主机名 MDNS是一种简单的网络协议，全称是“Multicast Domain Name System”（多播域名系统）。是Zeroconf网络协议套件中的一个组成部分，主要用于在局域网中自动发现和配置设备。 在这里我们设置 mDNS 的目的是在局域网上广播设备的ip地址，使得在 web 页面，输入 主机名.local 即可访问在 设备上部署的网站。这在未知设备IP地址时访问设备成为可能。 安装 avahi sudo apt update sudo apt install avahi-daemon # 检查状态 sudo systemctl status avahi-daemon 设置主机名 # sudo vim /etc/hosts 127.0.1.1 raspberrypi 启动 mDNS服务 sudo hostnamectl set-hostname raspberrypi sudo systemctl restart avahi-daemon 访问设备上部署的web服务 http://raspberrypi.local 注意事项 # 需要在设备上部署一个网页服务，比如flask，运行在80端口 # 注意不要启用或者 安装hostapd 以及 dnsmasq

Friday, July 18, 2025 | 1 分钟 阅读
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树莓派4 ubuntu 操作系统使用 RPi.GPIO

树莓派 ubuntu 操作系统使用 RPi.GPIO 添加 Rpi.GPIO 库 sudo apt update sudo apt install python3-rpi.gpio 将当前用户添加到 gpio 用户组 新建 gpio 用户组 sudo groupadd -f -r gpio 将当前用户加入到 gpio 用户组 gpasswd -a shawn gpio 创建规则文件 cd /etc/udev/rules.d/ sudo vim 99-gpio.rules 添加以下内容到规则文件中 SUBSYSTEM=="bcm2835-gpiomem", KERNEL=="gpiomem", GROUP="gpio", MODE="0660" SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", PROGRAM="/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport ; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'" SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add", PROGRAM="/bin/sh -c 'chown root:gpio /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value ; chmod 660 /sys%p/active_low /sys%p/direction /sys%p/edge /sys%p/value'" 添加可执行权限 sudo chmod +777 99-gpio.rules

Friday, July 18, 2025 | 1 分钟 阅读
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树莓派Arm配置 apt 源

树莓派Arm配置 apt 源 1. Backup sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak 2. Update sudo apt-get update 3. Replace 参考链接 ubuntu 22.04 - arm architecture deb https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse # deb https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse ubuntu 20.04 - arm architecture deb https://mirror.sjtu.edu.cn/ubuntu-ports/ focal main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ focal main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse # deb https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse ubuntu 18.04 - arm architecture deb https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse # deb https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse ubuntu 22.04 - x86_64 architecture deb https://mirror.sjtu.edu.cn/ubuntu/ jammy main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ jammy main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ jammy-security main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ jammy-security main restricted universe multiverse # deb https://mirror.sjtu.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse ubuntu 20.04 - x86_64 architecture deb https://mirror.sjtu.edu.cn/ubuntu/ focal main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ focal main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ focal-updates main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ focal-updates main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ focal-backports main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ focal-backports main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ focal-security main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ focal-security main restricted universe multiverse # deb https://mirror.sjtu.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse ubuntu 18.04 - x86_64 architecture deb https://mirror.sjtu.edu.cn/ubuntu/ bionic main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ bionic main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse deb https://mirror.sjtu.edu.cn/ubuntu/ bionic-security main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ bionic-security main restricted universe multiverse # deb https://mirror.sjtu.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse # deb-src https://mirror.sjtu.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse 4. Update sudo apt-get update

Friday, July 18, 2025 | 3 分钟 阅读
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USR-W610作为一个AP设备，为通过有线连接的设备，提供网络接入

网络配置 在这里配置的最终方案为：USR-W610作为一个AP设备，为通过有线连接的设备，提供网络接入。 首次使用 第一次配置时将电脑端设置为DHCP，将电脑与设备通过网线连接，设备端需要连接到LAN口，如果已经配置为其他未知IP了，可以将设备进行复位，然后重新配置。 输入设备的IP地址，即可进入配置页面，默认为:192.168.1.1. 设备连接wifi 将WAN口切为LAN口 将LAN口配置为固定IP 修改后，当前连接将断开，需要使用新的IP登录配置页面，这里是192.168.0.67. 配置数据转发 配置串口端参数 配置网络端参数

Tuesday, July 1, 2025 | 1 分钟 阅读
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海康SC2000AC导航传感器

海康SC2000AC导航传感器 海康SC2000AC导航传感器可以应用于 AGV 小车定位导航，其作用是通过 AGV 导航读码器采集图像，通过内部算法解析画面中的二维码所代表的含义。并将解析到的数据通过串口（RS485）或者网口发送出来。 1. 读取矩阵码 1.1 矩阵码 1.2 IDMVS识别矩阵码 1.3 UDP协议及解析 48 4B 56 53 00 00 12 6F 00 00 00 00 00 00 00 33 00 00 00 A8 00 3E 6E EF 00 00 00 02 01 01 00 00 00 00 00 00 00 00 02 E1 FF FF F9 7E 00 01 4F 6C 00 00 01 93 00 00 01 24 00 00 00 08 30 30 30 30 30 30 39 33 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Tuesday, July 1, 2025 | 3 分钟 阅读
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海康SC2000AC导航传感器配置网络

配置网络 海康SC2000AC导航传感器可以应用于 AGV 小车定位导航，其作用是通过 AGV 导航读码器采集图像，通过内部算法解析画面中的二维码所代表的含义。并将解析到的数据通过串口（RS485）或者网口发送出来。 网络设置 连接设备时尽量使用有线连接，通过无线连接有时会很不稳定，甚至无法连接。 打开巨型帧 配置相机IP 打开IDMVS软件后，检测到相机，无需连接，右键点击相机名称行，对相机的IP地址进行设置。 配置UDP 连接设备 在设备名称上右键点击，打开属性树页面，进行配置 在这里我们配置成使用UDP向外发送数据，发送地址为：192.168.0.66：8081. 在这里的参数配置和立即生效，无需重启，修改配置完成后记得执行保存用户参数。

Tuesday, July 1, 2025 | 1 分钟 阅读