大佬們好，分享一下我用魯班貓做ros主控，stm32f407做底層驅(qū)動的一個(gè)ros小車。
目的是識別煙霧并凈化：凈化是用的負(fù)離子發(fā)生器（效果如文章頂部視頻，凈化還是很頂?shù)模饧由热~將其擴(kuò)散出去。同時(shí)也具有環(huán)境氣體濃度（質(zhì)量）檢測的功能。
b站鏈接：
https://www.bilibili.com/video/BV1hh4y1n7Fz/?vd_source=4fa660ff7e4423139e6ebdbd4dece6c7
這是我去年12月底開始做的，入坑魯班貓算是比較早了。在讀大三學(xué)生。正奧里給考研中。。。
最底下還塞了一塊vet6和一塊esp32.
板子上加了個(gè)風(fēng)扇，為了散熱快。
魯班貓1s做ROS主控用于ros建圖（gmapping）和導(dǎo)航，同時(shí)接入NPU做抽煙監(jiān)測，模型是yolov5自己訓(xùn)練的模型轉(zhuǎn)化成rknn部署在板子上。
功能部分即功能層的stm32與串口屏、esp32通信部分。功能層的主要目的是獲取傳感器數(shù)據(jù)和通過繼電器控制小車前端的負(fù)離子發(fā)生器和兩個(gè)加快負(fù)離子擴(kuò)散的風(fēng)扇。這里的stm32相當(dāng)于一個(gè)中轉(zhuǎn)，用的是rt—thread實(shí)時(shí)操作系統(tǒng)，版本是4.0.2（寫的比較早，當(dāng)時(shí)的rtt還有小bug，現(xiàn)在已經(jīng)很好用了。）
開啟三個(gè)串口：一個(gè)用于讀取傳感器，一個(gè)用于接收和發(fā)送指令給串口屏，一個(gè)用于給esp32傳輸數(shù)據(jù)，通過esp32將數(shù)據(jù)發(fā)送到巴法云平臺，做接入小程序中轉(zhuǎn)。
篇幅有限，代碼放在了網(wǎng)盤上。
鏈接：https://pan.baidu.com/s/1ltgypPMq9heezk412r4IKw?pwd=jhzs
提取碼：jhzs
因?yàn)橛玫氖莚tt，移植性很高，故只寫了應(yīng)用層的main.c函數(shù)。如下：
氣體傳感器如下（所用的是串口協(xié)議）
#include <rtthread.h>
/ *串口1用來調(diào)試* /
#define DBG_TAG \"main\"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>
#include <string.h>
#include <serial.h>//此處有坑，要改頭文件路徑為rt-thread/components/drivers/include/drivers
#include <stdio.h>
#include \"stdlib.h\"
#defineleft_motor_run{rt_pin_write(6,PIN_LOW );rt_pin_write(7,PIN_HIGH);}
#defineleft_motor_back{rt_pin_write(6,PIN_HIGH );rt_pin_write(7,PIN_LOW);}
#definestoping{rt_pin_write(6,PIN_HIGH );rt_pin_write(7,PIN_HIGH);rt_pin_write(16,PIN_HIGH );rt_pin_write(17,PIN_HIGH);}
#defineright_motor_run{rt_pin_write(16,PIN_LOW );rt_pin_write(17,PIN_HIGH);}
#defineright_motor_back{rt_pin_write(16,PIN_HIGH );rt_pin_write(17,PIN_LOW);}
#define key1_openrt_pin_write(51,PIN_LOW );//d3
#define key1_closert_pin_write(51,PIN_HIGH );
#define key2_openrt_pin_write(52,PIN_LOW );//d4
#define key2_closert_pin_write(52,PIN_HIGH );
#define key3_openrt_pin_write(53,PIN_LOW );//d5
#define key3_closert_pin_write(53,PIN_HIGH );
/*micropython esp32與rtt串口DMA傳輸數(shù)據(jù)時(shí)有坑，
* 需在drv_usart.c找到HAL_UART_RxCpltCallback和HAL_UART_RxHalfCpltCallback將dma_isr(&uart->serial)注釋掉，
* 能降低數(shù)據(jù)錯(cuò)誤率*/
/ *串口2的變量 115200* /
struct serial_configureuar2_configs = RT_SERIAL_CONFIG_DEFAULT;
rt_sem_t sem2;
rt_device_t uar2_dev;
rt_thread_t uar_2_th;
rt_thread_t uar_2_deal;
char buffer[128] = {0};
rt_size_t rxlen2 = 0;
/ *串口3的變量 9600* /
struct serial_configureuar3_configs = MY_SERIAL_CONFIG_DEFAULT;
rt_sem_t sem3；
rt_device_t uar3_dev;
rt_thread_t uar_3_th;
uint8_t buffer3[17] = {0};
rt_size_t rxlen3 = 0;
/ *串口4的變量 115200* /
struct serial_configureuar4_configs = RT_SERIAL_CONFIG_DEFAULT;
rt_sem_t sem4;
rt_device_t uar4_dev;
rt_thread_t uar_4_th;
rt_uint8_t buffer4[256] = {0xff};
rt_size_t rxlen4 = 0;
//char deal;
rt_uint8_t deal ;
char wheater[8];
char humidity[4];
char temperature[4];
char wind_speed[4];
char shi[3];
char miao[3];
char fen[3];
char wheater_deal[23]=\"main2.g3.txt=\"\";
char humidity_deal[18]=\"main2.g1.txt=\"\";
char temperature_deal[17]=\"main2.g0.txt=\"\";
char wind_speed_deal[19]=\"main2.g2.txt=\"\";
char shi_deal[15] = \"main.z1.val=\";
char miao_deal[15] = \"main.z0.val=\";
char fen_deal[15] = \"main.z2.val=\"；
char end[2]=\"\"\";
char xf_end[3];//串口屏控制幀尾
void uar2_thread_entry(void *parameter)//串口2DMA線程入口
{
rt_size_t len = 0;
/*發(fā)送ch2o數(shù)據(jù)*/
rt_device_write(uar4_dev,0,ch2o_date,sizeof(ch2o_date));
rt_device_write(uar4_dev,0 ,xf_end,sizeof(xf_end));
/*end*/
/*發(fā)送tvoc數(shù)據(jù)*/
rt_device_write(uar4_dev,0 ,tvoc_date,sizeof(tvoc_date));
rt_device_write(uar4_dev,0 ,xf_end,sizeof(xf_end))；
/*end*/
/*發(fā)送pm2.5數(shù)據(jù)*/
rt_device_write(uar4_dev,0 ,pm2_5_date,sizeof(pm2_5_date));
rt_device_write(uar4_dev,0 ,xf_end,sizeof(xf_end));
/*end*/
/*發(fā)送pm10數(shù)據(jù)*/
rt_device_write(uar4_dev,0 ,pm10_date,sizeof(pm10_date));
rt_device_write(uar4_dev,0 ,xf_end,sizeof(xf_end));
/*end*/
/*發(fā)送temp數(shù)據(jù)*/rt_device_write(uar4_dev,0,temp_date,sizeof(temp_date));
rt_device_write(uar4_dev,0 ,xf_end,sizeof(xf_end));
/*end*/
/*發(fā)送humi數(shù)據(jù)*/
rt_device_write(uar4_dev,0,humi_date,sizeof(humi_date));
rt_device_write(uar4_dev,0 ,xf_end,sizeof(xf_end));
/*end*/
memset(buffer4, 0, sizeof buffer4);
// }
}
}
rt_err_t uar3_rxback(rt_device_t dev, rt_size_t size)//串口3接收//回調(diào)函數(shù)9600
{
rxlen3 = size;
rt_sem_release(sem3);
return RT_EOK;
}
void uar4_thread_entry(void *parameter)//串口4DMA線程入口
{
rt_size_t len = 0;
while(1)
{
rt_sem_take(sem4, RT_WAITING_FOREVER);
len = rt_device_read(uar4_dev, 0, buffer4, rxlen4);
buffer4[len] = \'\\\\0\';
rt_kprintf(\"%c\\\\n\",len);
if (buffer4[0] == 0x02) {
deal=0x02;
rt_device_write(uar2_dev,0 ,&deal,16);
rt_kprintf(\"uart4\");
deal=0；
}
if (buffer4[0] == 0x01) {
deal=0x01；
rt_device_write(uar2_dev,0 ,&deal,16);
rt_kprintf(\"uart4\");
deal=0;
}
if (buffer4[0] == 0x03) {
deal=0x03;
//memset(buffer,0,sizeof(buffer));
rt_device_write(uar2_dev,0 ,&deal,16);
rt_kprintf(\"uart4\");
deal=0;
}
switch(buffer4[0]）
{
case 0x44: key1_open;break;
case 0x55: key1_close;break;
case 0x66: key2_open;break;
case 0x77: key2_close;break;
case 0x88: key3_open;break;
case 0x99: key3_close;break;
}
}
}
rt_err_t uar4_rxback(rt_device_t dev, rt_size_t size)//串口4接收回調(diào)函數(shù)
{
rxlen4 = size;
rt_sem_release(sem4);
return RT_EOK;
}
void clearmachine_and_motor_pin_init()
{
rt_pin_mode(6,PIN_MODE_OUTPUT );//a6
rt_pin_mode(7,PIN_MODE_OUTPUT );//a7
rt_pin_mode(16,PIN_MODE_OUTPUT );//b0
rt_pin_mode(17,PIN_MODE_OUTPUT );//b1
rt_pin_mode(28, PIN_MODE_INPUT);//b12 left
rt_pin_mode(29,PIN_MODE_INPUT);//b13right
rt_pin_mode(51,PIN_MODE_OUTPUT );//d3
rt_pin_mode(52,PIN_MODE_OUTPUT );//d4
rt_pin_mode(53,PIN_MODE_OUTPUT );//d5
key1_close;
key2_close;
key3_close;
}
int main(void)
{
clearmachine_and_motor_pin_init();//引腳初始化
/*串口2 DMA初始化*/
uar2_dev = rt_device_find(\"uart2\");
if (uar2_dev == NULL) {
LOG_E(\"rt_device_find[uart2] FAILED...\\\\\\\\\\\\\\\\n\");
return -EINVAL;
}
rt_device_open(uar2_dev, RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_DMA_RX);
rt_device_control(uar2_dev, RT_DEVICE_CTRL_CONFIG, (void *)&uar2_configs);
rt_device_set_rx_indicate(uar2_dev, uar2_rxback);
uar_2_th = rt_thread_create(\"uar2_rx_thread\", uar2_thread_entry, NULL, 4096, 10, 5);
rt_thread_startup(uar_2_th);
sem2 = rt_sem_create(\"sem2\", 1, RT_IPC_FLAG_FIFO);
if(sem2 == RT_NULL){
LOG_E(\"sem2 rt_sem_create failed...\\\\\\\\\\\\\\\\n\");
return -ENOMEM;
}
LOG_D(\"sem2 rt_sem_create successed...\\\\\\\\\\\\\\\\n\");
/*串口2 DMA初始化結(jié)束*/
//uar_2_deal = rt_thread_create(\"uar2_deal\", uar2_deal_entry, NULL, 512, 13, 5);
//rt_thread_startup(uar_2_deal);
/*串口3 DMA初始化9600*/
uar3_dev = rt_device_find(\"uart3\");
if (uar3_dev == NULL) {
LOG_E(\"rt_device_find[uart3] FAILED...\\\\\\\\\\\\\\\\n\");
return -EINVAL;
}
rt_device_open(uar3_dev, RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_DMA_RX);
rt_device_control(uar3_dev, RT_DEVICE_CTRL_CONFIG, (void *)&uar3_configs);
rt_device_set_rx_indicate(uar3_dev, uar3_rxback);
uar_3_th = rt_thread_create(\"uar3_rx_thread\", uar3_thread_entry, NULL, 4096, 12, 5);
rt_thread_startup(uar_3_th);
sem3 = rt_sem_create(\"sem3\", 1, RT_IPC_FLAG_FIFO);
if(sem3 == RT_NULL){
LOG_E(\"sem3 rt_sem_create failed...\\\\\\\\\\\\\\\\n\");
return -ENOMEM;
}
LOG_D(\"sem3 rt_sem_create successed...\\\\\\\\\\\\\\\\n\");
/*串口3 DMA初始化結(jié)束*/
/*串口4 DMA初始化*/
uar4_dev = rt_device_find(\"uart4\");
if (uar4_dev == NULL) {
LOG_E(\"rt_device_find[uart4] FAILED...\\\\\\\\\\\\\\\\n\");
return -EINVAL;
}
rt_device_open(uar4_dev, RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_DMA_RX);
rt_device_control(uar4_dev, RT_DEVICE_CTRL_CONFIG, (void *)&uar4_configs);
rt_device_set_rx_indicate(uar4_dev, uar4_rxback);
uar_4_th = rt_thread_create(\"uar4_rx_thread\", uar4_thread_entry, NULL, 4096, 11, 5);
rt_thread_startup(uar_4_th);
sem4 = rt_sem_create(\"sem4\", 4, RT_IPC_FLAG_FIFO);
if(sem4 == RT_NULL){
LOG_E(\"sem4 rt_sem_create failed...\\\\\\\\\\\\\\\\n\");
return -ENOMEM;
}
LOG_D(\"sem4 rt_sem_create successed...\\\\\\\\\\\\\\\\n\");
/*串口4 DMA初始化結(jié)束*/
return RT_EOK;
}
最后是串口屏顯示，同時(shí)數(shù)據(jù)也能在微信小程序上查看
接下來是魯班貓1s做ros主控的部分。
1、移植輪趣大佬的ros源碼：
根據(jù)我現(xiàn)有的硬件：思嵐a1雷達(dá)、一個(gè)usb rgb攝像頭選擇合適的功能包，然后開始移植。
中途會出現(xiàn)很多錯(cuò)誤。例如缺少部分功能包，sudo apt install ros-noetic-(包名)【我的ros版本是noetic】。
2、移植完畢后發(fā)現(xiàn)大佬們并沒有使用魯班貓上的npu。所以我嘗試了用npu跑yolov5在debain10的環(huán)境下用python接口效果如下：
Python與c++接口將圖片監(jiān)測改成實(shí)時(shí)攝像頭的代碼：
只需更改cv.Capture()函數(shù)的攝像頭設(shè)備號即可。
鏈接：https://pan.baidu.com/s/1gauOezF-X8ZuvU4b0I4v4A?pwd=jhzs
提取碼：jhzs
Python接口的yolov7只需更改yolov5代碼的錨點(diǎn)即可
以下只列出主函數(shù)部分，完整的在鏈接里。
import urllib
import time
import sys
import numpy as np
import cv2
from rknnlite.api import RKNNLite
#from PIL import Image
RKNN_MODEL = \'mask.rknn\'
IMG_PATH = \'./test.jpg\'
OBJ_THRESH = 0.25
NMS_THRESH = 0.45
IMG_SIZE = 640
......(省略中間部分)
if __name__ == \'__main__\':
# Create RKNN object
rknn = RKNNLite()
# init runtime environment
print(\'--> Load RKNN model\')
ret = rknn.load_rknn(RKNN_MODEL)
#ret = rknn.init_runtime(target=\'rv1126\', device_id=\'256fca8144d3b5af\')
if ret != 0:
print(\'Load RKNN model failed\')
exit(ret)
print(\'done\')
ret = rknn.init_runtime()
if ret != 0:
print(\'Init runtime environment failed!\')
exit(ret)
print(\'done\')
capture = cv2.VideoCapture(9)
ref, frame = capture.read()
if not ref:
raise ValueError(\"error reading\")
fps = 0.0
while(True):
t1 = time.time()
#
ref, frame = capture.read()
if not ref:
break
# BGRtoRGB
frame = cv2.cvtColor(frame,cv2.COLOR_BGR2RGB)
#############
img = frame
img, ratio, (dw, dh) = letterbox(img, new_shape=(IMG_SIZE, IMG_SIZE))
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# Inference
print(\'--> Running model\')
outputs = rknn.inference(inputs=[img])
input0_data = outputs[0]
input1_data = outputs[1]
input2_data = outputs[2]
input0_data = input0_data.reshape([3, -1]+list(input0_data.shape[-2:]))
input1_data = input1_data.reshape([3, -1]+list(input1_data.shape[-2:]))
input2_data = input2_data.reshape([3, -1]+list(input2_data.shape[-2:]))
input_data = list()
input_data.append(np.transpose(input0_data, (2, 3, 0, 1)))
input_data.append(np.transpose(input1_data, (2, 3, 0, 1)))
input_data.append(np.transpose(input2_data, (2, 3, 0, 1)))
boxes, classes, scores = yolov5_post_process(input_data)
img_1 = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
#img_1 = img_1[:,:,::-1]
if boxes is not None:
draw(img_1, boxes, scores, classes)
fps= ( fps + (1./(time.time()-t1)) ) / 2
print(\"fps= %.2f\"%(fps))
#img_1 = cv2.putText(frame, \"fps= %.2f\"%(fps), (0, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
cv2.imshow(\"video\",img_1[:,:,::-1])
c= cv2.waitKey(1) & 0xff
if c==27:
capture.release()
break
print(\"Video Detection Done!\")
capture.release()
cv2.destroyAllWindows()
但這還沒有接到ros中，為此我去翻rknn的github找到了接入ros的方法。
Ros功能包如下：
Launch文件：
Yolov5.launch
<param name=\"model_file\" value=\"yolov5s-640-640.rknn\"/>
<param name=\"display_output\" value=\"$(arg display_output)\"/>
<param name=\"prob_threshold\" value=\"0.35\"/>
<param name=\"chip_type\" value=\"$(arg chip_type)\"/>
<remap from=\"/camera/image_raw\" to=\"$(arg camera_topic)\"/>
Camrea.Launch
<param name=\"video_device\" value=\"/dev/$(arg device)\" />
<param name=\"image_width\" value=\"640\" />
<param name=\"image_height\" value=\"480\" />
<param name=\"framerate\" value=\"30\" />
<param name=\"pixel_format\" value=\"yuyv\" />
<param name=\"camera_frame_id\" value=\"usn_cam\" />
<param name=\"io_method\" value=\"mmap\"/>
<param name=\"camera_name\" value=\"usn_cam\"/>
啟動攝像頭
默認(rèn)的攝像頭設(shè)備號為video0 魯班貓為video9
1、roslaunch rknn_ros camera.launch
2、roslaunch rknn_ros camera.launch device:=video9（可傳參或者改launch）
3、roslaunch rknn_ros yolov5.launch chip_type:=RK3566
鏈接：
鏈接：https://pan.baidu.com/s/1QhfRjDs1sftAB0Q-TS5dBA?pwd=jhzs
提取碼：jhzs
不出意外改好板子型號和對應(yīng)的video就能用了。
可打開rviz或者rqt_image_view查看。
模型是我自己訓(xùn)練的，鏈接如下：
鏈接：https://pan.baidu.com/s/1FSJyW6kp4cy3-yakTq_Q4g?pwd=jhzs
提取碼：jhzs
YOLOV5配置和使用：
官方的源碼是不建議的：
用這個(gè)：
https://gitcode.net/mirrors/airockchip/yolov5?utm_source=csdn_github_accelerator
這是瑞芯微官方推薦的源碼，但是也需要更改。
yolov5-master\\\\models下的yolo.py
找到
def forward(self, x):
函數(shù)，更改為：
def forward(self, x):
z = []# inference output
for i in range(self.nl):
if os.getenv(\'RKNN_model_hack\', \'0\') != \'0\':
z.append(torch.sigmoid(self.m[i](x[i])))
continue
x[i] = self.m[i](x[i])# conv
\'\'\'
bs, _, ny, nx = x[i].shape# x(bs,255,20,20) to x(bs,3,20,20,85)
x[i] = x[i].view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()
if not self.training:# inference
if self.onnx_dynamic or self.grid[i].shape[2:4] != x[i].shape[2:4]:
self.grid[i], self.anchor_grid[i] = self._make_grid(nx, ny, i)
y = x[i].sigmoid()
if self.inplace:
y[..., 0:2] = (y[..., 0:2] * 2 + self.grid[i]) * self.stride[i]# xy
y[..., 2:4] = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i]# wh
else:# for YOLOv5 on AWS Inferentia https://github.com/ultralytics/yolov5/pull/2953
xy, wh, conf = y.split((2, 2, self.nc + 1), 4)# y.tensor_split((2, 4, 5), 4)# torch 1.8.0
xy = (xy * 2 + self.grid[i]) * self.stride[i]# xy
wh = (wh * 2) ** 2 * self.anchor_grid[i]# wh
y = torch.cat((xy, wh, conf), 4)
z.append(y.view(bs, -1, self.no))
if os.getenv(\'RKNN_model_hack\', \'0\') != \'0\':
return z
return x if self.training else (torch.cat(z, 1),) if self.export else (torch.cat(z, 1), x)
\'\'\'
return x[0],x[1],x[2]
這樣就可以在pt權(quán)重轉(zhuǎn)onnx時(shí)去掉最后一個(gè)Detect層。
pt轉(zhuǎn)onnx指令
python export.py --weights yolov5s.pt --img 640 --batch 1 --opset 11 --include onnx
紅色字體部分換成要轉(zhuǎn)換的權(quán)重文件例如我的就是：
**python export.py --weights ** **weights/best.pt ** --img 640 --batch 1 --opset 11 --include onnx
opset選擇11。
這樣出來的模型是有三個(gè)節(jié)點(diǎn)的模型，才是可用的。
可用netron查看：
netron：https://netron.app/（瀏覽器網(wǎng)址）
將模型拖到頁面可查看。
有三個(gè)輸出節(jié)點(diǎn)。
且要記好三個(gè)節(jié)點(diǎn)的名字。
在官方要求的ubuntu pc端上進(jìn)行模型轉(zhuǎn)換。
我這里有個(gè)改好的yolov5源碼（里面是我訓(xùn)練的抽煙監(jiān)測模型）
網(wǎng)盤鏈接如下：
鏈接：https://pan.baidu.com/s/1fXKNoXhu4m1SmTr4fc-afg?pwd=jhzs
提取碼：jhzs
Chatgpt部分是b站機(jī)器人阿杰github開源項(xiàng)目。
https://www.bilibili.com/video/BV12M4y1R76M/?spm_id_from=333.788
效果如圖：
嗚。。。不要看問得什么
整車的sw模型鏈接：soildwork2020及以上版本可直接打開
鏈接：https://pan.baidu.com/s/1KqB1SOD418dCvyDaZFMgpg?pwd=jhzs
提取碼：jhzs當(dāng)時(shí)還理想化的擼了個(gè)履帶，可后來發(fā)現(xiàn)打印出來根本用不了，故放棄，換成了輪子。
放鏈接是希望能夠幫到像我一樣步步踩坑的菜鳥級選手。我是老踩坑怪了。
有不當(dāng)?shù)牡胤剑€望大佬們海涵。
2023-03-24 20:05:14
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