esp32与ros2的开关灯

单片机开关灯是必须的，如何告知ros2，这里用主题方式实现。需要先阅读：

esp32与ros2的欢乐启程https://blog.csdn.net/ZhangRelay/article/details/120229431?spm=1001.2014.3001.5501

开关灯的示例如下：

#include <WiFi.h>const char* ssid     = "yourssid";
const char* password = "yourpasswd";WiFiServer server(80);void setup()
{Serial.begin(115200);pinMode(5, OUTPUT);      // set the LED pin modedelay(10);// We start by connecting to a WiFi networkSerial.println();Serial.println();Serial.print("Connecting to ");Serial.println(ssid);WiFi.begin(ssid, password);while (WiFi.status() != WL_CONNECTED) {delay(500);Serial.print(".");}Serial.println("");Serial.println("WiFi connected.");Serial.println("IP address: ");Serial.println(WiFi.localIP());server.begin();}int value = 0;void loop(){WiFiClient client = server.available();   // listen for incoming clientsif (client) {                             // if you get a client,Serial.println("New Client.");           // print a message out the serial portString currentLine = "";                // make a String to hold incoming data from the clientwhile (client.connected()) {            // loop while the client's connectedif (client.available()) {             // if there's bytes to read from the client,char c = client.read();             // read a byte, thenSerial.write(c);                    // print it out the serial monitorif (c == '\n') {                    // if the byte is a newline character// if the current line is blank, you got two newline characters in a row.// that's the end of the client HTTP request, so send a response:if (currentLine.length() == 0) {// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)// and a content-type so the client knows what's coming, then a blank line:client.println("HTTP/1.1 200 OK");client.println("Content-type:text/html");client.println();// the content of the HTTP response follows the header:client.print("Click <a href=\"/H\">here</a> to turn the LED on pin 5 on.<br>");client.print("Click <a href=\"/L\">here</a> to turn the LED on pin 5 off.<br>");// The HTTP response ends with another blank line:client.println();// break out of the while loop:break;} else {    // if you got a newline, then clear currentLine:currentLine = "";}} else if (c != '\r') {  // if you got anything else but a carriage return character,currentLine += c;      // add it to the end of the currentLine}// Check to see if the client request was "GET /H" or "GET /L":if (currentLine.endsWith("GET /H")) {digitalWrite(5, HIGH);               // GET /H turns the LED on}if (currentLine.endsWith("GET /L")) {digitalWrite(5, LOW);                // GET /L turns the LED off}}}// close the connection:client.stop();Serial.println("Client Disconnected.");}
}

这是示例代码，一定要注意！LED端口要与电路板一致，本开发板要修改为2。

pinMode(2, OUTPUT);      // set the LED pin mode

还有：

        if (currentLine.endsWith("GET /H")) {digitalWrite(2, HIGH);               // GET /H turns the LED on}if (currentLine.endsWith("GET /L")) {digitalWrite(2, LOW);                // GET /L turns the LED off}

这和ROS2有啥关系？完全没有啊，下面直接插入ROS2相关代码，源码如下：

#include <ros2arduino.h>#include <WiFi.h>
#include <WiFiUdp.h>
#include <WiFiClient.h>
//#include <WebServer.h>
//#include <ESPmDNS.h>#define SSID       "ESP32LoveROS2"
#define SSID_PW    "66666666"
#define AGENT_IP   "172.20.10.2"
#define AGENT_PORT 2021 //AGENT port number#define LED 2
#define PUBLISH_FREQUENCY 1 //hzchar ledflag=2;void publishString(std_msgs::String* msg, void* arg)
{(void)(arg);static int cnt = 0;if(ledflag==2){sprintf(msg->data, "欢乐的esp32和ros2 %d", cnt++);}else if(ledflag==0){sprintf(msg->data, "欢乐的esp32灯灭了 %d", cnt++);}else if(ledflag==1){sprintf(msg->data, "欢乐的esp32灯亮了 %d", cnt++);}
}class StringPub : public ros2::Node
{
public:StringPub(): Node("esp32_pub_node"){ros2::Publisher<std_msgs::String>* publisher_ = this->createPublisher<std_msgs::String>("esp32_chatter");this->createWallFreq(PUBLISH_FREQUENCY, (ros2::CallbackFunc)publishString, nullptr, publisher_);}
};WiFiUDP udp;WiFiServer server(80);void setup()
{pinMode(LED, OUTPUT);WiFi.begin(SSID, SSID_PW);while(WiFi.status() != WL_CONNECTED);server.begin();ros2::init(&udp, AGENT_IP, AGENT_PORT);}void loop()
{static StringPub StringNode;ros2::spin(&StringNode);WiFiClient client = server.available();   // listen for incoming clientsif (client) {                             // if you get a client,String currentLine = "";                // make a String to hold incoming data from the clientwhile (client.connected()) {            // loop while the client's connectedif (client.available()) {             // if there's bytes to read from the client,char c = client.read();             // read a byte, thenif (c == '\n') {                    // if the byte is a newline character// if the current line is blank, you got two newline characters in a row.// that's the end of the client HTTP request, so send a response:if (currentLine.length() == 0) {// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)// and a content-type so the client knows what's coming, then a blank line:client.println("HTTP/1.1 200 OK");client.println("Content-type:text/html");client.println();// the content of the HTTP response follows the header:client.print("Click <a href=\"/H\">here</a> to turn the LED on pin 2 on. cslg<br>");client.print("Click <a href=\"/L\">here</a> to turn the LED on pin 2 off. cslg<br>");client.print("Click <a href=\"/Blink\">here</a> to turn the LED on pin 2 off. cslg<br>");// The HTTP response ends with another blank line:client.println();// break out of the while loop:break;} else {    // if you got a newline, then clear currentLine:currentLine = "";}} else if (c != '\r') {  // if you got anything else but a carriage return character,currentLine += c;      // add it to the end of the currentLine}// Check to see if the client request was "GET /H" or "GET /L":if (currentLine.endsWith("GET /H")) {digitalWrite(LED, HIGH);               // GET /H turns the LED on//  sprintf(msg->data, "灯亮了");ledflag=1;}if (currentLine.endsWith("GET /L")) {digitalWrite(LED, LOW);                // GET /L turns the LED off//  sprintf(msg->data, "灯灭了");ledflag=0;}}}// close the connection:client.stop();}
}

如果不能理解这段代码，先阅读本文最初的那个链接。

效果是如下的：

后续，小乌龟和机器人都会加入进来^_^

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