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View Code? Open in Web Editor NEWROS serial for ESP8266 over WiFi
License: MIT License
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Unable to sync with device
Hello, I'm trying to use this ESPROS package. Before I could use successfully the oficial rosserial with an Arduino Leonardo. But with this package I'm having the following error:
[ERROR] [1593536893.001784]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
I'm using ROS Kinetic with Ubuntu 16.04. The port is not blocked.
crwxrwxrwx 1 root dialout 188, 1 jun 30 19:11 /dev/ttyUSB1
I'm trying to use the chatter example, but I'm stack at this point.
Kinds regards,
Jorge
Doesnt compile for esp32 (Nodemcu v2)
Build options changed, rebuilding all /home/chris/Arduino/espros/EspRos/EspRos.ino:30:25: fatal error: ESP8266WiFi.h: No such file or directory compilation terminated. exit status 1 Error compiling for board Node32s.
Odometry Calculation
Hey I wonder where this calculation comes from? Specifically why you think that double th = (current_rmc - current_lmc) / 45. * PI would calculate the angle, and why 45 ?. I tried your code but didn't get satisfying results.
Do you have any literature for this?
esp8266 is crashing on connection
Log from ROS 192.168.1.4
rosrun rosserial_python serial_node.py tcp
[INFO] [1504026878.861724]: ROS Serial Python Node
Fork_server is: False
[INFO] [1504026878.866898]: Waiting for socket connections on port 11411
waiting for socket connection
[INFO] [1504026895.864035]: Established a socket connection from 192.168.1.5 on port 32163
[INFO] [1504026895.864462]: calling startSerialClient
[INFO] [1504026901.808561]: socket.error exception caught
[INFO] [1504026901.809044]: startSerialClient() exited
waiting for socket connection
[INFO] [1504026903.043857]: Established a socket connection from 192.168.1.5 on port 9521
[INFO] [1504026903.044350]: calling startSerialClient
[INFO] [1504026912.801278]: socket.error exception caught
[INFO] [1504026912.801747]: startSerialClient() exited
waiting for socket connection
https://github.com/agnunez/espros/blob/master/examples/esproswifi/esproswifi.ino
log from esp8266 192.168.1.5 over uart
Connecting to HHH7351HHH
Ready! Use 192.168.1.5 to access client
Exception (3):
epc1=0x4000bf64 epc2=0x00000000 epc3=0x00000000 excvaddr=0x402309fd depc=0x00000000
ctx: cont
sp: 3fff03b0 end: 3fff0650 offset: 01a0
>>>stack>>>
3fff0550: 00000000 00000010 402014cc 3ffef630
3fff0560: 0000000d 00001388 00001388 40201943
3fff0570: 00000000 00000001 3fff17c4 00000000
3fff0580: 3ffef4d0 00000001 3ffee458 40204400
3fff0590: 40205535 00000000 3fff170c 00000000
3fff05a0: 3ffef4d0 3ffef534 3ffee458 402040b9
3fff05b0: 3ffe8518 00000064 3ffe84bc 402309fd
3fff05c0: 402309dc 00000800 3fff170c 3ffef55c
3fff05d0: 402043cc 3ffee458 3ffee458 40203ed7
3fff05e0: 3ffe8500 00000000 00000000 3ffef55c
3fff05f0: 00001eb2 3ffee458 3ffef458 40204316
3fff0600: 3fffdad0 3ffef620 402014cc 3ffef630
3fff0610: 4020194e 000001f4 000001f4 3ffef620
3fff0620: 3fffdad0 00000000 3ffef618 402043b0
3fff0630: 3fffdad0 00000000 3ffef618 40201518
3fff0640: feefeffe feefeffe 3ffef630 40202610
<<<stack<<<
On Wireshark
"No.","dTime","Source","Destination","Protocol","Length","Info"
"12","0.000000000","192.168.1.4","192.168.1.5","TCP","70","11411 > 12537 [PSH, ACK] Seq=1 Ack=1 Win=29200 Len=16"
"67","4.953325587","192.168.1.5","192.168.1.4","TCP","58","20458 > 11411 [SYN] Seq=0 Win=5840 Len=0 MSS=1460"
"68","0.000063971","192.168.1.4","192.168.1.5","TCP","58","11411 > 20458 [SYN, ACK] Seq=0 Ack=1 Win=29200 Len=0 MSS=1460"
"69","0.002769226","192.168.1.5","192.168.1.4","TCP","54","20458 > 11411 [ACK] Seq=1 Ack=1 Win=5840 Len=0"
"70","1.715842547","192.168.1.4","192.168.1.5","TCP","70","[TCP Retransmission] 11411 > 12537 [PSH, ACK] Seq=1 Ack=1 Win=29200 Len=16"
"71","0.003213314","192.168.1.5","192.168.1.4","TCP","54","12537 > 11411 [RST, ACK] Seq=1 Ack=17 Win=5840 Len=0"
"74","2.105902690","192.168.1.4","192.168.1.5","TCP","62","11411 > 20458 [PSH, ACK] Seq=1 Ack=1 Win=29200 Len=8"
"75","0.160145716","192.168.1.5","192.168.1.4","TCP","54","20458 > 11411 [ACK] Seq=1 Ack=9 Win=5832 Len=0"
"76","0.016768009","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=1 Ack=9 Win=5832 Len=1"
"77","0.000031492","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=2 Win=29200 Len=0"
"78","0.002006589","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=2 Ack=9 Win=5832 Len=1"
"79","0.000045126","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=3 Win=29200 Len=0"
"80","0.004521424","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=3 Ack=9 Win=5832 Len=1"
"81","0.000053878","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=4 Win=29200 Len=0"
"82","0.001765268","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=4 Ack=9 Win=5832 Len=1"
"83","0.000051152","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=5 Win=29200 Len=0"
"84","0.001820491","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=5 Ack=9 Win=5832 Len=1"
"85","0.000057232","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=6 Win=29200 Len=0"
"86","0.001755244","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=6 Ack=9 Win=5832 Len=1"
"87","0.000054622","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=7 Win=29200 Len=0"
"88","0.001814952","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=7 Ack=9 Win=5832 Len=1"
"89","0.000052916","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=8 Win=29200 Len=0"
"90","0.001716363","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=8 Ack=9 Win=5832 Len=1"
"91","0.000054600","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=9 Win=29200 Len=0"
"92","0.001801711","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=9 Ack=9 Win=5832 Len=1"
"93","0.000055512","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=10 Win=29200 Len=0"
"94","0.002660727","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=10 Ack=9 Win=5832 Len=1"
"95","0.000050897","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=11 Win=29200 Len=0"
"96","0.002062846","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=11 Ack=9 Win=5832 Len=1"
"97","0.000048712","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=12 Win=29200 Len=0"
"98","0.002034003","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=12 Ack=9 Win=5832 Len=1"
"99","0.000049223","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=13 Win=29200 Len=0"
"100","0.001781780","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=13 Ack=9 Win=5832 Len=1"
"101","0.000060632","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=14 Win=29200 Len=0"
"102","0.001886663","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=14 Ack=9 Win=5832 Len=1"
"103","0.000063788","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=15 Win=29200 Len=0"
"104","0.001799169","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=15 Ack=9 Win=5832 Len=1"
"105","0.000054328","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=16 Win=29200 Len=0"
"106","0.001918051","192.168.1.5","192.168.1.4","TCP","55","20458 > 11411 [PSH, ACK] Seq=16 Ack=9 Win=5832 Len=1"
"107","0.000054095","192.168.1.4","192.168.1.5","TCP","54","11411 > 20458 [ACK] Seq=9 Ack=17 Win=29200 Len=0"
"108","0.000155631","192.168.1.4","192.168.1.5","TCP","70","11411 > 20458 [PSH, ACK] Seq=9 Ack=17 Win=29200 Len=16"
"109","0.221617392","192.168.1.4","192.168.1.5","TCP","70","[TCP Retransmission] 11411 > 20458 [PSH, ACK] Seq=9 Ack=17 Win=29200 Len=16"
"113","0.447994540","192.168.1.4","192.168.1.5","TCP","70","[TCP Retransmission] 11411 > 20458 [PSH, ACK] Seq=9 Ack=17 Win=29200 Len=16"
"119","0.896060984","192.168.1.4","192.168.1.5","TCP","70","[TCP Retransmission] 11411 > 20458 [PSH, ACK] Seq=9 Ack=17 Win=29200 Len=16"
"133","1.795927560","192.168.1.4","192.168.1.5","TCP","70","[TCP Retransmission] 11411 > 20458 [PSH, ACK] Seq=9 Ack=17 Win=29200 Len=16"
"192","3.592229708","192.168.1.4","192.168.1.5","TCP","70","[TCP Retransmission] 11411 > 20458 [PSH, ACK] Seq=9 Ack=17 Win=29200 Len=16"
"200","3.085579866","192.168.1.4","192.168.1.5","TCP","62","11411 > 20458 [FIN, PSH, ACK] Seq=25 Ack=17 Win=29200 Len=8"
"212","4.106211379","192.168.1.4","192.168.1.5","TCP","78","[TCP Retransmission] 11411 > 20458 [FIN, PSH, ACK] Seq=9 Ack=17 Win=29200 Len=24"
"281","14.368005899","192.168.1.4","192.168.1.5","TCP","78","[TCP Retransmission] 11411 > 20458 [FIN, PSH, ACK] Seq=9 Ack=17 Win=29200 Len=24"
Getting started guide
Hello. I have installed rosserial library by arduino manager. I see you have includes/ros.h and other files. Where to put them? Maybe some step-by-step instruction?
problem connecting to my arduino board
Hello! I am using an Arduino uno wifi rev3, ros noetic and ubuntu 20. When I try start my ros node on the arduino with "rosrun rosserial_python serial_node.py tcp" command (after a roscore), it says "[INFO] [1512416583.799159]: ROS Serial Python Node Fork_server is: False [INFO] [1512416583.816673]: Waiting for socket connections on port 11411 waiting for socket connection".
The arduino is able to create a rosnode via serial connection and is connecting to the internet successfully. Does anybody have any idea? the code is:
#include <Wire.h>
#include <ros.h>
#include <std_msgs/Float32.h>
//#define USE_USBCON
ros::NodeHandle nh;
std_msgs::Float32 str_msg;
ros::Publisher chatter("chatter", &str_msg);
int temp;
void setup()
{
//Serial.begin(9600);
nh.initNode();
nh.advertise(chatter);
delay(10000);
}
void loop()
{
temp = 2;
str_msg.data = temp;
chatter.publish( &str_msg );
nh.spinOnce();
delay(200);
}
NodeMCU ESP32 : Protocol version of client is unrecognized, expected Rev 1 (rosserial 0.5+)
I have ROS melodic installed on my Master Linux machine where I have my roscore running.
I have serially connected NodeMCU esp32 to the linux machine, where esp32 publishes data of an ultrasonic sensor on a topic which is then subscribed by node running on a linux machine.
I get this error when I am trying to run
rosrun rosserial_python serial_node.py /dev/ttyUSB0
Error: Protocol version of client is unrecognized, expected Rev 1 (rosserial 0.5+)
that is why when i run rostopic echo /topicname, there is no such topic found.
Also, When I run the same code on arduino UNO, everything works as expected.
Kindly help me with a detailed explanation as I am a beginner in ROS and cannot proceed further.
nodemcu not connnecting to virtual ubuntu machine.
i am running ubuntu in my virutual box and ros is running only in local host.
i am not able to change using
export ROS_MASTER_URI =""
is there any way to connect nodemcu to my virtual machine
the battery is 18650?
"I have also replaced the standard AAA battery case for one compatible with two powerful 16850 Li-Ion. "
I think the battery here is 18650. Is it correct?
Wont compile
'class ArduinoHardware' has no member named 'setConnection' nh.getHardware()->setConnection(server, serverPort); ^ exit status 1 'class ArduinoHardware' has no member named 'setConnection'
Can't connect to ROS master
Hello,
I've just tried using he library to ocnnect to ROS and I can't for some reason.
Here's my Arduino sketch tha creates a simple publisher:
`#include <ESP8266WiFi.h>
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Float64.h>
//WIFI
const char* ssid = "Redmi 4X";
const char* password = "homologacja";
IPAddress server(192,168,172,129);
IPAddress ip_address;
WiFiClient client;
int status = WL_IDLE_STATUS;
class WiFiHardware {
public:
WiFiHardware() {};
void init() {
// do your initialization here. this probably includes TCP server/client setup
client.connect(server, 11411);
}
// read a byte from the serial port. -1 = failure
int read() {
// implement this method so that it reads a byte from the TCP connection and returns it
// you may return -1 is there is an error; for example if the TCP connection is not open
return client.read(); //will return -1 when it will works
}
// write data to the connection to ROS
void write(uint8_t* data, int length) {
// implement this so that it takes the arguments and writes or prints them to the TCP connection
for(int i=0; i<length; i++)
client.write(data[i]);
}
// returns milliseconds since start of program
unsigned long time() {
return millis(); // easy; did this one for you
}
};
void setupWiFi()
{
WiFi.begin(ssid, password);
Serial.print("\nConnecting to "); Serial.println(ssid);
uint8_t i = 0;
while (WiFi.status() != WL_CONNECTED && i++ < 1000) delay(500);
if(i == 1001){
Serial.print("Could not connect to"); Serial.println(ssid);
// while(1) delay(500);
}
if(WiFi.status() == WL_CONNECTED)
{
Serial.print("Ready! Use ");
Serial.print(WiFi.localIP());
Serial.println(" to access client");
}
}
ros::NodeHandle_ nh;
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);
char hello[13] = "hello world!";
void setup()
{
Serial.begin(115200);
setupWiFi();
delay(2000);
nh.initNode();
nh.advertise(chatter);
}
void loop()
{
str_msg.data = hello;
chatter.publish( &str_msg );
nh.spinOnce();
delay(1000);
}`
On Ubuntu, I first run roscore. Then I do rosrun rosserial_python serial_node.py tcp.
All I see in the Terminal is this:
[INFO] [1512416583.799159]: ROS Serial Python Node Fork_server is: False [INFO] [1512416583.816673]: Waiting for socket connections on port 11411 waiting for socket connection
After that I turn on my ESP8266. From the Serial Monitor I see that it successfully connects to WiFi. Unfortunately Ubuntu Terminal does not inform about connection. I also cannot see my topic in ROS.
Do you have any idea what might be the issue?
Both Ubuntu and ESP8266 are connected to the same WiFi network of course.
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