a

robomaster_pi/robot_ros_odom.py

 import math
 import time
+import socket
+import sys
 from geometry_msgs.msg import TransformStamped
 
 import numpy as np
-import serial
 import rclpy
 from rclpy.node import Node
 from tf2_ros import TransformBroadcaster
@@ -11,16 +12,13 @@ from tf2_ros import TransformBroadcaster
 
 from rclpy.node import Node
 
-ser = serial.Serial()
-ser.port = '/dev/ttyS0'
-ser.baudrate = 115200
-ser.bytesize = serial.EIGHTBITS
-ser.stopbits = serial.STOPBITS_ONE
-ser.parity = serial.PARITY_NONE
-ser.timeout = 0.2
-ser.open()
-ser.write(("command;").encode('utf-8'))
-leer = ser.readall()
+host = "192.168.42.2"
+port = 40923
+address = (host, int(port))
+s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+s.connect(address)
+s.send(("command;").encode('utf-8'))
+abfangen = s.recv(1024)
 
 def quaternion_from_euler(ai, aj, ak):
     ai /= 2.0
@@ -51,25 +49,25 @@ class Robomaster_odom(Node):
         while True:
             super().__init__("robomaster_odom")
             self.tf_broadcaster = TransformBroadcaster(self)
-            ser.write(("chassis position ?;").encode('utf-8'))
-            buf = ser.readall()
+            s.send(("chassis position ?;").encode('utf-8'))
+            buf = s.recv(1024)
             xyz = buf.decode('utf-8')
             self.get_logger().info(xyz)
             xyzlist = xyz.split(" ")
             t = TransformStamped()
             t.header.stamp = self.get_clock().now().to_msg()
             t.header.frame_id = 'odom'
-            t.child_frame_id = "base_link"
+            t.child_frame_id = "base_footprint"
             t.transform.translation.x = float(xyzlist[0])
-            t.transform.translation.y = float(xyzlist[1])
+            t.transform.translation.y = -float(xyzlist[1])
             t.transform.translation.z = 0.0
-            q = quaternion_from_euler(0, 0, float(xyzlist[2])* math.pi/180)
+            q = quaternion_from_euler(0, 0, -float(xyzlist[2])* math.pi/180)
             t.transform.rotation.x = q[0]
             t.transform.rotation.y = q[1]
             t.transform.rotation.z = q[2]
             t.transform.rotation.w = q[3]
             self.tf_broadcaster.sendTransform(t)
-            time.sleep(0.1)
+            time.sleep(0.5)
 
 def main():
     rclpy.init()

robomaster_pi/robot_ros_vel.py

 import math
 import time
+import socket
+import sys
 from geometry_msgs.msg import TransformStamped
 
 import numpy as np
-import serial
 import rclpy
 from rclpy.node import Node
 from geometry_msgs.msg import Twist
@@ -12,28 +13,24 @@ from tf2_ros import TransformBroadcaster
 
 from rclpy.node import Node
 
-ser2 = serial.Serial()
-ser2.port = '/dev/ttyS0'
-ser2.baudrate = 115200
-ser2.bytesize = serial.EIGHTBITS
-ser2.stopbits = serial.STOPBITS_ONE
-ser2.parity = serial.PARITY_NONE
-ser2.timeout = 0.2
-ser2.open()
-ser2.write(("command;").encode('utf-8'))
-ser2.read_all()
+host = "192.168.42.2"
+port = 40923
+address = (host, int(port))
+s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+s.connect(address)
+s.send(("command;").encode('utf-8'))
+
 
 class vel_from_ros_node(Node):
     
     def __init__(self):
-        super().__init__("el_from_ros")
+        super().__init__("vel_from_ros")
         self.get_vel_from_ros_ = self.create_subscription(
-            Twist, "/cmd_vel_out", self.pose_callback, 10)
+            Twist, "/cmd_vel", self.pose_callback, 10)
     
     def pose_callback(self, msg: Twist):
         command = "chassis speed x " + str(msg.linear.x) + " y " + str(msg.linear.y) + " z " + str(msg.angular.z) + ";"
-        ser2.write(command.encode('utf-8'))
-        leer = ser2.readall()
+        s.send(command.encode('utf-8'))