联系人:蓝艳萍
手机:15359298293
QQ:2259678687
邮箱:lanlan@szcxdcs.com
地址:深圳市宝安区西乡街道臣田社区宝民二路东方雅苑2层B39
B&R MDA115-0 |
B&R MDA115-0 |
就如各位所见,使用ROS之后,一般的循环函数就会变得相当简单。循环函数只会订阅(subscribe)数据,任何Arduino循环都一样。设定时要将ROS初始化,将各个ROS讯息订阅者的订阅叫出来。每个订阅者会占据Arduino的RAM,数量取决于要用程序代码做什么,以6个到12个为限。
#include
#include
#include
#include
#define SERVOPIN 3
Servo servo;
void servo_cb( const std_msgs::Float32& msg )
{
const float min = 45;
const float range = 90;
float v = msg.data;
if( v > 1 ) v = 1;
接下来要设法透过Arduino在ROS的世界说话。最简单的方法是使用机器人启动档。虽然以下的档案内容非常简单,但是这里要追加启动档,如此一来即使是非常复杂的机器人,也能用一个指令启动。
$ cat rosservo.launch
$ roslaunch ./rosservo.lanch
rostopic指令可以看出ROS讯息传送到机器人的哪个部位。看了下面的程序代码就会发现,「/head/tilt」可以透过Arduino使用。讯息要使用「rostopic」传送。-1的选项只会发布(publish)讯息一次,通知/head/tilt传送一个浮点数。
Trio-Tech Artic TC3000 Temperature Controller Chiller
MKS ASTeX ASTRONe Remote Plasma Source Working
MKS ASTRONi AX7670-63 Remote Plasma Source 0920-02232
Kensington CSMT-4 Compact Sorting Mapping Tool working
KLA-Tencor 514799 SP1 L3/L4 Lens Focus Assembly 514810-...
Nor Cal Pendulum Valve 10" New 3870-04611
ASML Vacuum Gas Module 4022.486.21561 working
Edwards iQDP-80 Multi Stage Dry Vacuum Pump tested work...
Brooks 200mm Prealigner Chamber 10600-10 working
Yaskawa Transfer Robot Track XU-ACL3701 working
Novellus Concept Two Altus Wafer Chamber CVD-W complete
Nor-Cal Intellisys 0190-25401 Throttling Pendulum Valve...
GasTech Safe T Net 2000 Gas Control Cabinet untested as...
Semitool Siemens TP177B DP-6 MSTN AC Control Panel 6AV6...
Daihen RMN-40A RF Dome Automatic Matching Unit 1110-010...
Comdel CX-5000 RF DC Power Supply FP3515RD Untested CX-...
PRI Wafer Transfer Station IFE-3301 Asyst Loadport SMIF...
LAM Research 4420 Main Frame Assembly 852-010030-001 wo...
LAM Research 4420 Reaction Chamber Installation 860-010...
Brooks Automation Genus 200mm 001-9010-13 Right Load Lo...
VAT 650246-PA52-AIW1 Pendulum Control & Isolation Valve...
Daihen RF Dome Match RMN-40A Rebuilt 1110-01068
Rudolph Technologies MetaPulse 200 Metrology Tool 200mm
Rudolph Technologies Metrology Tool MetaPulse 200X Cu
LAM Research LBPM AC Distribution Unit 1B02735G01 New
ASML MicroScan II Lamp Housing Module 859-0481-007 unte...
MRC Eclipse Star RMX Magnet Assy. 026146 working
Keyence LX2-12T Transmitter / LX2-12R Receiver and LX2-...
Ecosys Novapure S451D Scrubber Tank C3-0NN-B5-C2-D3
LAM Research RBM AC Distribution Unit 1B02737G01 New
TEL ACT 12 CPL Cool Plate 300mm 2985-470922-W1
Varian Process Chamber Liner Changer Kit new
Edwards Dry Vacuum Pump iQDP40 QMB250 working
ENI MKS DCG-200Z Optima DC Power Master 0190-28953
Shimadzu Vacuum Turbopump TMP-3403LMC working
ENI Spectrum 5kW RF Generator B-5002 working 0190-27361
Lam RF Generator Cart 852-014681-005-K untested
Lam Research RF Generator Cart 852-014681-005 untested
Lam 4420 Etcher Orbital Gas Panel Assy 853-024403-100
Therma-Wave Optiprobe OP2600B Used, AS-IS
Nor-Cal Intellisys TPV-800 Pendulum Valve 0190-25401
Neslab DIMAX DEI Water Cooler Chiller 622023991801
LAM 4420 Etcher PCB Rack 853-017305-002 Working