Trying to use your code

[elgarbe]

Hi, I was trying this: https://answers.ros.org/question/277324/stm32-with-ros-rosserial-in-eclipse-how/ and make it working ok, but now I found your solution and seems to be very nice.

Could you explain a little more how to start using it? I'm starting with CubeMX project, with 2 GPIO and an UART configured. What is the next step?

Thank

[yoneken]

HI! Thank you for your comment, and sorry for my late reply. This rosserial_stm32 is a part project of rosserial. So, please read its document first and install it. Then, please read a readme of rosserial_stm32 and examples.

If you get another issue, please feel free to ask me!

[elgarbe]

Ok, I've started over from scratch. I clone rosserial from github (https://github.com/ros-drivers/rosserial), into a new catkin_ws. Run catkin_make, catking_make install and source devel/setup.bash Now, what is the next step? do I need to clone rosserial_stm32 into where?

[elgarbe]

I just tried to clone https://github.com/yoneken/rosserial_stm32.git into my git folder, then create a symlink into /home/elgarbe/catkin_ws_rosserial/src/rosserial/, then run catkin_make, catkin_make install and source devel/setup.bash. Then create a ws: mkdir /home/elgarbe/ws_rosserial and cd to it finally run rosrun rosserial_stm32 make_libraries.py . and get this error:

Exporting to .
Traceback (most recent call last):
  File "/home/elgarbe/catkin_ws_rosserial/src/rosserial/rosserial_stm32/src/rosserial_stm32/make_libraries.py", line 90, in <module>
    shutil.copy(rosserial_stm32_dir+"/src/ros_lib/"+f, path+"/Inc/")
  File "/usr/lib/python2.7/shutil.py", line 119, in copy
    copyfile(src, dst)
  File "/usr/lib/python2.7/shutil.py", line 83, in copyfile
    with open(dst, 'wb') as fdst:
IOError: [Errno 21] Is a directory: './Inc/'

[elgarbe]

I cloned your repo to a separate catkin workspace and get the same error. Could it be related to my python version?

[Supgb]

you need to create a stm32 project with SW4STM32, and this will create a directory contain some folders(src, inc, ...). Finally change "Inc" to "inc" in make_libraries.py.

[elgarbe]

Ok, I got it. Could you tell me how fast a topic could be publish? I want to publish an IMU msg at 20Hz. Coult it be possible?

[yoneken]

Could you tell me how fast a topic could be publish?

It depends on your mpu, cpu, and occupancy of USB bus. Let's try on-site! Basically, 20Hz is enough slow frequency.

[elgarbe]

have you got an example using USB port? I'm using your code on a STM32F722 If I create a project with USB with CubeMX I can't make it C++

[yoneken]

have you got an example using USB port?

Sorry. I don't have the experience to use USB port on STM32. If you cannot change the project to C++, it will be the devil to use rosserial. Because the original rosserial code is based on C++.

[elgarbe]

if I use a CubeMX proyect with USB enabled then I can change the project to C++, but it won't compile. I will stick with uart. I'm using your code, but I get a lot of "Lost sync with device". What could be the problem? I'm just sending a string msg...

[yoneken]

According to this great advice, you may forget to call spinOnce()? In my sample code, I call it on the main loop.