We are implementing serial communication between ROS and STM32 using USART periph. Please consider checking this tuto which i find for the moment instrtucting and clear : https://www.youtube.com/watch?v=cq0HmKrIOt8&t=692s
To be completed with further .IOC file configs
on 13.50 : THe old version takes nor argument related to the generated library path however when i tried it it asked for a path.
the solution fot this is to mention the output path for Inc folder inside Documents/STM32.
Never mind the path issue just put on a '.' after the command ENJOY ;)
on 15.00 He copied the stm32 geerated file to a shared folder between linux and windows cuz he is using a VM. I think it is not necessary if you are working on dual boot and you install the CUBEIDE on ubuntu.
If it is your first time working with the IDE you might face some issues such as arm-none-eabi-gcc: not found and unresolved inclusion : stdint the solution is to install the ide from the official st site.
One other problem I faced : arm-none-eabi-gdb: error while loading shared libraries: libncurses.so.5: cannot open shared object file: No such file or directory.
The Solution is to run sudo apt-get install libncurses5
He is using STM32F446E mcu I am now seeking if there is some hardware dependency or we can use another board.(will be updated soon)
Quick update : The project was not working on my f410 I thought about some hardaware depedency, I am now tryin on the F411RE (you will be updated very soon about the outcome) the project works fine on my f410
I found that there is a hardawre dependecy but for F4 / F7 / F3 families so i should be fine with my stm32f410 ..(to be verfied) ==> checked !!
Please consider targetting the project to CPP
You have first to put the path for Inc inside Documents/STM32 in your stm project.
The explicit #include "ros.h" and other .h file wont happen in our main.c however we are calling them on our main.cpp and then calling the functions in main.c
One last thing is to set some file types so please consider following these steps :
*Project propreties : c/c++ general : file types :
*check use project type file
*add *.h and set their type to c++ header files
*One more last thing if you are actually reading my shit and not wondering about some insta post is that you lust change main.c to main.cpp.
The code is old so there might be some old HAL API so i ll be checking that also
One thing we must do is to enable debug to Serial wire
We must also set the HSE and LSE to Bypass clock Source and Crystal/Cermaic Resonsator
file:///home/flooki/Desktop/Screenshot%20from%202022-10-10%2021-22-45.png
Please apply those configs :
file:///home/flooki/Desktop/Screenshot%20from%202022-10-14%2011-50-20.png
file:///home/flooki/Desktop/Screenshot%20from%202022-10-14%2011-50-54.png
Whe have to add this peace of code to stm32f4xx_it.h : /* USER CODE BEGIN 0 */
#include "my_main.h"
#ifdef __cplusplus
extern "C" {
#endif
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
USART_RX_Callback();
/* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */
/* USER CODE END USART2_IRQn 1 */
}
/* USER CODE BEGIN 1 */
#ifdef __cplusplus
}
#endif
We have to add the path for Inc Folder of the generated Librairies after running the **make_libraires.py** command.
I am now copying the files as they are from a project i cloned from github : https://github.com/oussemajelassi/rosserial_stm32_NucleoF411
if it doesn't work i will copy the generated files.
I have a doubt that the port have a mode issue so it cannot be acceced ( will ask sam3oun about it)
In our Node Handle we can set input and output buffer size.
First check which USB PORT is connected which can be done by :
dmesg | grep tty
Then clone the ros drivers library by this command :
git clone https://github.com/ros-drivers/rosserial.git
Now copy the rosserial/rosserial_python from the cloned repo to YOUR_WORKSPACE/Src
now catkin_make in YOUR_WORKSPACE
now we should source the devel/setup.bash :
source devel/setup.bash
Finally we init the communication :
rosrun rosserial_python serial_node.py /dev/ttyACM0
I faced an issue : Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
Most of the answers are talking about cross checkinh the baudrate that did not solve the issue, I am now trying to lower baudrate : 9600
I found this tuto i will follow it i dunno what went wrong :
https://sudonull.com/post/31955-Rosserial-STM32
There is one problem I faced is that rosrun wont rechon rosserial_stm32 as a package so the solution for that is to source ~/catkin_ws/devel/setup.bash after compiling the package.