利用ROS2写一段C++代码,从NI9237全桥中读取数据并以话题形式发布
时间: 2023-06-25 11:07:07 浏览: 199
以下是一个简单的ROS2 C++代码示例,用于从NI9237全桥中读取数据并以话题形式发布:
```
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/Imu.hpp>
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include "NIDAQmx.h"
#define DAQmxErrChk(functionCall) { if( DAQmxFailed(error=(functionCall)) ) { goto Error; } }
using namespace std::chrono_literals;
class MyPublisher : public rclcpp::Node
{
public:
MyPublisher() : Node("my_publisher")
{
publisher_ = this->create_publisher<sensor_msgs::msg::Imu>("imu_data", 10);
//DAQ code starts
int32 error=0;
char errBuff[2048]={'\0'};
TaskHandle taskHandle=0;
int32 read;
float64 data[1000];
char chan[] = "Dev1/ai0:3";
DAQmxErrChk (DAQmxCreateTask("", &taskHandle));
DAQmxErrChk (DAQmxCreateAIVoltageChan(taskHandle, chan, "", DAQmx_Val_RSE, -10.0, 10.0, DAQmx_Val_Volts, NULL));
DAQmxErrChk (DAQmxStartTask(taskHandle));
while (rclcpp::ok())
{
DAQmxErrChk (DAQmxReadAnalogF64(taskHandle, 1000, 10.0, DAQmx_Val_GroupByChannel, data, 1000, &read, NULL));
sensor_msgs::msg::Imu msg;
msg.header.stamp = this->now();
msg.linear_acceleration.x = data[0];
msg.linear_acceleration.y = data[1];
msg.linear_acceleration.z = data[2];
msg.angular_velocity.x = data[3];
msg.angular_velocity.y = data[4];
msg.angular_velocity.z = data[5];
publisher_->publish(msg);
rclcpp::spin_some(this);
std::this_thread::sleep_for(10ms);
}
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
return;
Error:
if( DAQmxFailed(error) )
DAQmxGetExtendedErrorInfo(errBuff, 2048);
if( taskHandle!=0 ) {
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
}
if( DAQmxFailed(error) )
printf("DAQmx Error: %s\n",errBuff);
printf("End of program, press Enter key to quit\n");
getchar();
}
private:
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr publisher_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<MyPublisher>());
rclcpp::shutdown();
return 0;
}
```
在该代码中,我们使用了NI DAQmx库来读取NI9237全桥中的数据,并将其转换为ROS2消息格式。我们创建了一个名为"imu_data"的话题,并将每次读取的数据发布到该话题中。在主函数中,我们初始化ROS2节点并将其绑定到MyPublisher类中,然后调用spin()函数来启动节点的消息循环。当程序终止时,我们清理所有资源并关闭节点。
请注意,此示例代码仅提供了一个框架,您需要根据您的具体硬件和软件环境进行修改以确保其正常工作。
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