聯(lián)系人:藍(lán)艷萍
手機(jī):15359298293
QQ:2259678687
郵箱:lanlan@szcxdcs.com
地址:深圳市寶安區(qū)西鄉(xiāng)街道臣田社區(qū)寶民二路東方雅苑2層B39
B&R MDA115-0 |
B&R MDA115-0 |
就如各位所見,使用ROS之后,一般的循環(huán)函數(shù)就會(huì)變得相當(dāng)簡(jiǎn)單。循環(huán)函數(shù)只會(huì)訂閱(subscribe)數(shù)據(jù),任何Arduino循環(huán)都一樣。設(shè)定時(shí)要將ROS初始化,將各個(gè)ROS訊息訂閱者的訂閱叫出來。每個(gè)訂閱者會(huì)占據(jù)Arduino的RAM,數(shù)量取決于要用程序代碼做什么,以6個(gè)到12個(gè)為限。
#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;
接下來要設(shè)法透過Arduino在ROS的世界說話。最簡(jiǎn)單的方法是使用機(jī)器人啟動(dòng)檔。雖然以下的檔案內(nèi)容非常簡(jiǎn)單,但是這里要追加啟動(dòng)檔,如此一來即使是非常復(fù)雜的機(jī)器人,也能用一個(gè)指令啟動(dòng)。
$ cat rosservo.launch
$ roslaunch ./rosservo.lanch
rostopic指令可以看出ROS訊息傳送到機(jī)器人的哪個(gè)部位。看了下面的程序代碼就會(huì)發(fā)現(xiàn),「/head/tilt」可以透過Arduino使用。訊息要使用「rostopic」傳送。-1的選項(xiàng)只會(huì)發(fā)布(publish)訊息一次,通知/head/tilt傳送一個(gè)浮點(diǎn)數(shù)。
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-AIW?1 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