平台：华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本：Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615
创建ROS工作空间 mkdir -p ~/catkin_ws/srccd ~/catkin_ws/srccatkin_init_workspace
回到工作目录根空间使用catkin_make命令编译整个空间：
cd ~/catkin_ws/catkin_make 创建ROS功能包进入工作空间，使用catkin_create_pkg命令创建功能包：
cd ~/catkin_ws/srccatkin_create_pkg ROS_Test_LED std_msgs rospy roscpp C++（参考ROS 树莓派小车制作（一） ——ROS “点灯” —— 支链） 为了更具普适性，这里使用自定义的源码（来自SysFs方式下C语言控制GPIO（RK3399）—— 姚家湾）来点灯，其它方式见【RK3399Pro学习笔记】十八、点亮LED灯（python、C语言、bash）
SysFs方式（需root） 源文件 cd ~/catkin_ws/src/ROS_Test_LED/src blink.cpp nano blink.cpp #include "ros/ros.h"#include "std_msgs/Bool.h"#include <iostream>#include "ROS_Test_LED/gpiolib.h"void blink_callback(const std_msgs::Bool::ConstPtr& msg){gpio_export(73);if(msg->data==1){gpio_write(73, 0);ROS_INFO("LED ON");}if(msg->data==0){gpio_write(73, 1);ROS_INFO("LED OFF");}gpio_unexport(73);}int main(int argc,char** argv){ros::init(argc,argv,"blink_led");ROS_INFO("Started Blink Node");ros::NodeHandle n;ros::Subscriber sub=n.subscribe("led_blink",10,blink_callback);ros::spin();} gpiolib.cpp nano gpiolib.cpp #include <stdio.h>#include <stdlib.h>#include <string.h>#include <fcntl.h>#include <unistd.h>#include <sys/select.h>#include <sys/stat.h>#include "ROS_Test_LED/gpiolib.h"int gpio_direction(int gpio, int dir){int ret = 0;char buf[50];sprintf(buf, "/sys/class/gpio/gpio%d/direction", gpio);int gpiofd = open(buf, O_WRONLY);if (gpiofd < 0){perror("Couldn't open IRQ file");ret = -1;}if (dir == 2 && gpiofd){if (3 != write(gpiofd, "high", 3)){perror("Couldn't set GPIO direction to out");ret = -2;}}if (dir == 1 && gpiofd){if (3 != write(gpiofd, "out", 3)){perror("Couldn't set GPIO direction to out");ret = -3;}}else if (gpiofd){if (2 != write(gpiofd, "in", 2)){perror("Couldn't set GPIO directio to in");ret = -4;}}close(gpiofd);return ret;}int gpio_setedge(int gpio, int rising, int falling){int ret = 0;char buf[50];sprintf(buf, "/sys/class/gpio/gpio%d/edge", gpio);int gpiofd = open(buf, O_WRONLY);if (gpiofd < 0){perror("Couldn't open IRQ file");ret = -1;}if (gpiofd && rising && falling){if (4 != write(gpiofd, "both", 4)){perror("Failed to set IRQ to both falling & rising");ret = -2;}}else{if (rising && gpiofd){if (6 != write(gpiofd, "rising", 6)){perror("Failed to set IRQ to rising");ret = -2;}}else if (falling && gpiofd){if (7 != write(gpiofd, "falling", 7)){perror("Failed to set IRQ to falling");ret = -3;}}}close(gpiofd);return ret;}int gpio_export(int gpio){int efd;char buf[50];int gpiofd, ret;/* Quick test if it has already been exported */sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio);efd = open(buf, O_WRONLY);if (efd != -1){close(efd);return 0;}efd = open("/sys/class/gpio/export", O_WRONLY);if (efd != -1){sprintf(buf, "%d", gpio);ret = write(efd, buf, strlen(buf));if (ret < 0){perror("Export failed");return -2;}close(efd);}else{// If we can't open the export file, we probably// dont have any gpio permissionsreturn -1;}return 0;}void gpio_unexport(int gpio){int gpiofd, ret;char buf[50];gpiofd = open("/sys/class/gpio/unexport", O_WRONLY);sprintf(buf, "%d", gpio);ret = write(gpiofd, buf, strlen(buf));close(gpiofd);}int gpio_getfd(int gpio){char in[3] = {0, 0, 0};char buf[50];int gpiofd;sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio);gpiofd = open(buf, O_RDWR);if (gpiofd < 0){fprintf(stderr, "Failed to open gpio %d value\n", gpio);perror("gpio failed");}return gpiofd;}int gpio_read(int gpio){char in[3] = {0, 0, 0};char buf[50];int nread, gpiofd;sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio);gpiofd = open(buf, O_RDWR);if (gpiofd < 0){fprintf(stderr, "Failed to open gpio %d value\n", gpio);perror("gpio failed");}do{nread = read(gpiofd, in, 1);} while (nread == 0);if (nread == -1){perror("GPIO Read failed");return -1;}close(gpiofd);return atoi(in);}int gpio_write(int gpio, int val){char buf[50];int nread, ret, gpiofd;sprintf(buf, "/sys/class/gpio/gpio%d/value", gpio);gpiofd = open(buf, O_RDWR);if (gpiofd > 0){snprintf(buf, 2, "%d", val);ret = write(gpiofd, buf, 2);if (ret < 0){perror("failed to set gpio");return 1;}close(gpiofd);if (ret == 2)return 0;}return 1;}int gpio_select(int gpio){char gpio_irq[64];int ret = 0, buf, irqfd;fd_set fds;FD_ZERO(&fds);snprintf(gpio_irq, sizeof(gpio_irq), "/sys/class/gpio/gpio%d/value", gpio);irqfd = open(gpio_irq, O_RDONLY, S_IREAD);if (irqfd < 1){perror("Couldn't open the value file");return -13;}// Read first since there is always an initial statusret = read(irqfd, &buf, sizeof(buf));while (1){FD_SET(irqfd, &fds);ret = select(irqfd + 1, NULL, NULL, &fds, NULL);if (FD_ISSET(irqfd, &fds)){FD_CLR(irqfd, &fds); // Remove the filedes from set// Clear the junk data in the IRQ fileret = read(irqfd, &buf, sizeof(buf));return 1;}}} 头文件 cd ~/catkin_ws/src/ROS_Test_LED/include/ROS_Test_LED gpiolib.h nano gpiolib.h #ifndef _GPIOLIB_H_#define _GPIOLIB_H_/* returns -1 or the file descriptor of the gpio value file */int gpio_export(int gpio);/* Set direction to 2 = high output, 1 low output, 0 input */int gpio_direction(int gpio, int dir);/* Release the GPIO to be claimed by other processes or a kernel driver */void gpio_unexport(int gpio);/* Single GPIO read */int gpio_read(int gpio);/* Set GPIO to val (1 = high) */int gpio_write(int gpio, int val);/* Set which edge(s) causes the value select to return */int gpio_setedge(int gpio, int rising, int falling);/* Blocks on select until GPIO toggles on edge */int gpio_select(int gpio);/* Return the GPIO file descriptor */int gpio_getfd(int gpio);#endif //_GPIOLIB_H_ CMakeLists.txt nano ~/catkin_ws/src/ROS_Test_LED/CMakeLists.txt cmake_minimum_required(VERSION 3.0.2)project(ROS_Test_LED)## Compile as C++11, supported in ROS Kinetic and newer# add_compile_options(-std=c++11)## Find catkin macros and libraries## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)## is used, also find other catkin packagesfind_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs)## System dependencies are found with CMake's conventions# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures## modules and global scripts declared therein get installed## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html# catkin_python_setup()################################################## Declare ROS messages, services and actions #################################################### To declare and build messages, services or actions from within this## package, follow these steps:## * Let MSG_DEP_SET be the set of packages whose message types you use in## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).## * In the file package.xml:## * add a build_depend tag for "message_generation"## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET## * If MSG_DEP_SET isn't empty the following dependency has been pulled in## but can be declared for certainty nonetheless:## * add a exec_depend tag for "message_runtime"## * In this file (CMakeLists.txt):## * add "message_generation" and every package in MSG_DEP_SET to## find_package(catkin REQUIRED COMPONENTS ...)## * add "message_runtime" and every package in MSG_DEP_SET to## catkin_package(CATKIN_DEPENDS ...)## * uncomment the add_*_files sections below as needed## and list every .msg/.srv/.action file to be processed## * uncomment the generate_messages entry below## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder# add_message_files(# FILES# Message1.msg# Message2.msg# )## Generate services in the 'srv' folder# add_service_files(# FILES# Service1.srv# Service2.srv# )## Generate actions in the 'action' folder# add_action_files(# FILES# Action1.action# Action2.action# )## Generate added messages and services with any dependencies listed here# generate_messages(# DEPENDENCIES# std_msgs# )################################################## Declare ROS dynamic reconfigure parameters #################################################### To declare and build dynamic reconfigure parameters within this## package, follow these steps:## * In the file package.xml:## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"## * In this file (CMakeLists.txt):## * add "dynamic_reconfigure" to## find_package(catkin REQUIRED COMPONENTS ...)## * uncomment the "generate_dynamic_reconfigure_options" section below## and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder# generate_dynamic_reconfigure_options(# cfg/DynReconf1.cfg# cfg/DynReconf2.cfg# )##################################### catkin specific configuration ####################################### The catkin_package macro generates cmake config files for your package## Declare things to be passed to dependent projects## INCLUDE_DIRS: uncomment this if your package contains header files## LIBRARIES: libraries you create in this project that dependent projects also need## CATKIN_DEPENDS: catkin_packages dependent projects also need## DEPENDS: system dependencies of this project that dependent projects also needcatkin_package(# INCLUDE_DIRS include# LIBRARIES ROS_Test_LED# CATKIN_DEPENDS roscpp rospy std_msgs# DEPENDS system_lib)############# Build ############### Specify additional locations of header files## Your package locations should be listed before other locationsinclude_directories(include${catkin_INCLUDE_DIRS})## Declare a C++ library# add_library(${PROJECT_NAME}# src/${PROJECT_NAME}/ROS_Test_LED.cpp# )## 用来手动链接头文件和源文件add_library(gpiolib ## 自定义的链接库名，后面用来识别include/ROS_Test_LED/gpiolib.h ## 头文件的路径src/gpiolib.cpp ## 源文件的路径)add_dependencies(gpiolib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})target_link_libraries(gpiolib ${catkin_LIBRARIES})## Add cmake target dependencies of the library## as an example, code may need to be generated before libraries## either from message generation or dynamic reconfigure# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable## With catkin_make all packages are built within a single CMake context## The recommended prefix ensures that target names across packages don't collide# add_executable(${PROJECT_NAME}_node src/ROS_Test_LED_node.cpp)add_executable(blink_led src/blink.cpp)## Rename C++ executable without prefix## The above recommended prefix causes long target names, the following renames the## target back to the shorter version for ease of user use## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable## same as for the library above# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against# target_link_libraries(${PROJECT_NAME}_node# ${catkin_LIBRARIES}# )add_dependencies(blink_led ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})target_link_libraries(blink_led gpiolib${catkin_LIBRARIES})############### Install ################ all install targets should use catkin DESTINATION variables# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation## in contrast to setup.py, you can choose the destination# catkin_install_python(PROGRAMS# scripts/my_python_script# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark executables for installation## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html# install(TARGETS ${PROJECT_NAME}_node# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark libraries for installation## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html# install(TARGETS ${PROJECT_NAME}# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}# )## Mark cpp header files for installation# install(DIRECTORY include/${PROJECT_NAME}/# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}# FILES_MATCHING PATTERN "*.h"# PATTERN ".svn" EXCLUDE# )## Mark other files for installation (e.g. launch and bag files, etc.)# install(FILES# # myfile1# # myfile2# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}# )############### Testing ################# Add gtest based cpp test target and link libraries# catkin_add_gtest(${PROJECT_NAME}-test test/test_ROS_Test_LED.cpp)# if(TARGET ${PROJECT_NAME}-test)# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})# endif()## Add folders to be run by python nosetests# catkin_add_nosetests(test)回到工作空间根目录进行编译
cd ~/catkin_wscatkin_make 运行代码由于控制GPIO需要root权限，故ros相关命令也要以root身份执行： 新建一个终端
sudo -ssource ./catkin_ws/devel/setup.bashroscore新建一个终端
sudo -ssource ./catkin_ws/devel/setup.bashrosrun ROS_Test_LED blink_led新建一个终端
sudo -ssource ./catkin_ws/devel/setup.bash改变电平：
rostopic pub /led_blink std_msgs/Bool 1 rostopic pub /led_blink std_msgs/Bool 0新建一个终端
rqt_graph 调用shell命令方式（无需root） 源文件 cd ~/catkin_ws/src/ROS_Test_LED/src blink.cpp nano blink.cpp #include "ros/ros.h"#include "std_msgs/Bool.h"#include <iostream>#include <stdlib.h>void blink_callback(const std_msgs::Bool::ConstPtr& msg){if(msg->data==1){system("gpio write 8 0");ROS_INFO("LED ON");}if(msg->data==0){system("gpio write 8 1");ROS_INFO("LED OFF");}}int main(int argc,char** argv){ros::init(argc,argv,"blink_led");ROS_INFO("Started Blink Node");system("gpio mode 8 out");system("gpio write 8 1");ros::NodeHandle n;ros::Subscriber sub=n.subscribe("led_blink",10,blink_callback);ros::spin();}其中8为wiringPi的引脚编号，可通过gpio readall命令查看
CMakeLists.txt nano ~/catkin_ws/src/ROS_Test_LED/CMakeLists.txt cmake_minimum_required(VERSION 3.0.2)project(ROS_Test_LED)## Compile as C++11, supported in ROS Kinetic and newer# add_compile_options(-std=c++11)## Find catkin macros and libraries## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)## is used, also find other catkin packagesfind_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs)## System dependencies are found with CMake's conventions# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures## modules and global scripts declared therein get installed## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html# catkin_python_setup()################################################## Declare ROS messages, services and actions #################################################### To declare and build messages, services or actions from within this## package, follow these steps:## * Let MSG_DEP_SET be the set of packages whose message types you use in## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).## * In the file package.xml:## * add a build_depend tag for "message_generation"## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET## * If MSG_DEP_SET isn't empty the following dependency has been pulled in## but can be declared for certainty nonetheless:## * add a exec_depend tag for "message_runtime"## * In this file (CMakeLists.txt):## * add "message_generation" and every package in MSG_DEP_SET to## find_package(catkin REQUIRED COMPONENTS ...)## * add "message_runtime" and every package in MSG_DEP_SET to## catkin_package(CATKIN_DEPENDS ...)## * uncomment the add_*_files sections below as needed## and list every .msg/.srv/.action file to be processed## * uncomment the generate_messages entry below## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder# add_message_files(# FILES# Message1.msg# Message2.msg# )## Generate services in the 'srv' folder# add_service_files(# FILES# Service1.srv# Service2.srv# )## Generate actions in the 'action' folder# add_action_files(# FILES# Action1.action# Action2.action# )## Generate added messages and services with any dependencies listed here# generate_messages(# DEPENDENCIES# std_msgs# )################################################## Declare ROS dynamic reconfigure parameters #################################################### To declare and build dynamic reconfigure parameters within this## package, follow these steps:## * In the file package.xml:## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"## * In this file (CMakeLists.txt):## * add "dynamic_reconfigure" to## find_package(catkin REQUIRED COMPONENTS ...)## * uncomment the "generate_dynamic_reconfigure_options" section below## and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder# generate_dynamic_reconfigure_options(# cfg/DynReconf1.cfg# cfg/DynReconf2.cfg# )##################################### catkin specific configuration ####################################### The catkin_package macro generates cmake config files for your package## Declare things to be passed to dependent projects## INCLUDE_DIRS: uncomment this if your package contains header files## LIBRARIES: libraries you create in this project that dependent projects also need## CATKIN_DEPENDS: catkin_packages dependent projects also need## DEPENDS: system dependencies of this project that dependent projects also needcatkin_package(# INCLUDE_DIRS include# LIBRARIES ROS_Test_LED# CATKIN_DEPENDS roscpp rospy std_msgs# DEPENDS system_lib)############# Build ############### Specify additional locations of header files## Your package locations should be listed before other locationsinclude_directories(include${catkin_INCLUDE_DIRS})## Declare a C++ library# add_library(${PROJECT_NAME}# src/${PROJECT_NAME}/ROS_Test_LED.cpp# )## Add cmake target dependencies of the library## as an example, code may need to be generated before libraries## either from message generation or dynamic reconfigure# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable## With catkin_make all packages are built within a single CMake context## The recommended prefix ensures that target names across packages don't collide# add_executable(${PROJECT_NAME}_node src/ROS_Test_LED_node.cpp)add_executable(blink_led src/blink.cpp)## Rename C++ executable without prefix## The above recommended prefix causes long target names, the following renames the## target back to the shorter version for ease of user use## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable## same as for the library above# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against# target_link_libraries(${PROJECT_NAME}_node# ${catkin_LIBRARIES}# )add_dependencies(blink_led ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})target_link_libraries(blink_led ${catkin_LIBRARIES})############### Install ################ all install targets should use catkin DESTINATION variables# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation## in contrast to setup.py, you can choose the destination# catkin_install_python(PROGRAMS# scripts/my_python_script# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark executables for installation## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html# install(TARGETS ${PROJECT_NAME}_node# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark libraries for installation## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html# install(TARGETS ${PROJECT_NAME}# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}# )## Mark cpp header files for installation# install(DIRECTORY include/${PROJECT_NAME}/# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}# FILES_MATCHING PATTERN "*.h"# PATTERN ".svn" EXCLUDE# )## Mark other files for installation (e.g. launch and bag files, etc.)# install(FILES# # myfile1# # myfile2# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}# )############### Testing ################# Add gtest based cpp test target and link libraries# catkin_add_gtest(${PROJECT_NAME}-test test/test_ROS_Test_LED.cpp)# if(TARGET ${PROJECT_NAME}-test)# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})# endif()## Add folders to be run by python nosetests# catkin_add_nosetests(test)回到工作空间根目录进行编译
cd ~/catkin_wscatkin_make 运行代码新建一个终端
source ~/catkin_ws/devel/setup.bashroscore新建一个终端
source ~/catkin_ws/devel/setup.bashrosrun ROS_Test_LED blink_led新建一个终端
source ~/catkin_ws/devel/setup.bash改变电平：
rostopic pub /led_blink std_msgs/Bool 1 rostopic pub /led_blink std_msgs/Bool 0新建一个终端
rqt_graph
