932 lines
28 KiB
Markdown
932 lines
28 KiB
Markdown
# 100 · 嵌入式部署:RDK X5 + RK3506 + ROS2(完全实操指南)
|
||
|
||
> **本篇目标**:从"硬件到手"到"三机 ROS2 互通、RK3506 控制真实电机"全流程跑通。
|
||
> 假设你手上有:1 台 PC + 1 台 RDK X5 + 2 台 RK3506。本指南按 **step-by-step** 走,每步给出**预期输出 + 排错**。
|
||
|
||
---
|
||
|
||
## 目录
|
||
|
||
- [第 0 章: 准备与检查清单](#0-准备与检查清单)
|
||
- [第 1 章: 三层架构详解](#1-三层架构详解)
|
||
- [第 2 章: PC 主控完整配置](#2-pc-主控完整配置)
|
||
- [第 3 章: RDK X5 边缘 AI 配置](#3-rdk-x5-边缘-ai-配置)
|
||
- [第 4 章: RK3506 精简 ROS2 配置(核心)](#4-rk3506-精简-ros2-配置核心)
|
||
- [第 5 章: 三机 LAN DDS 组网](#5-三机-lan-dds-组网)
|
||
- [第 6 章: 跨机 Demo 联调](#6-跨机-demo-联调)
|
||
- [第 7 章: RK3506 接真实电机 / 编码器](#7-rk3506-接真实电机--编码器)
|
||
- [第 8 章: ros2_control 闭环](#8-ros2_control-闭环)
|
||
- [第 9 章: 故障排查大全](#9-故障排查大全)
|
||
- [第 10 章: 性能调优 Checklist](#10-性能调优-checklist)
|
||
- [附录 A: 采购清单](#附录-a-采购清单)
|
||
- [附录 B: 关键命令速查](#附录-b-关键命令速查)
|
||
|
||
---
|
||
|
||
## 0. 准备与检查清单
|
||
|
||
### 0.1 你需要的硬件
|
||
- [ ] PC 一台(Ubuntu 22.04 / Windows + Docker)
|
||
- [ ] RDK X5 一台(已烧 Ubuntu 22.04 官方镜像)
|
||
- [ ] RK3506 两台(已烧 Linux 镜像,默认账户 `root` 或 `user`)
|
||
- [ ] 网线 + 路由器 / 交换机(三个设备同网段)
|
||
- [ ] RK3506 ↔ PC / RDK X5 的 USB-TTL 串口线(debug 用)
|
||
|
||
### 0.2 网络规划(提前固定)
|
||
|
||
```
|
||
PC 192.168.1.10
|
||
RDK X5 192.168.1.20
|
||
RK3506-1 192.168.1.31
|
||
RK3506-2 192.168.1.32
|
||
|
||
子网掩码 255.255.255.0
|
||
ROS_DOMAIN_ID = 0 (三层共用)
|
||
```
|
||
|
||
> 💡 **强烈建议固定 IP**(路由器 DHCP 静态分配 或 各板 `/etc/network/interfaces` 写死),避免重启后地址变了连不上。
|
||
|
||
### 0.3 先确认每台设备能 SSH / 访问
|
||
|
||
```bash
|
||
# PC
|
||
ssh user@192.168.1.10 # 应该能登
|
||
|
||
# RDK X5
|
||
ssh user@192.168.1.20
|
||
|
||
# RK3506
|
||
ssh user@192.168.1.31
|
||
ssh user@192.168.1.32
|
||
```
|
||
|
||
每台板子**先 ping 互通**:
|
||
```bash
|
||
ping -c 3 192.168.1.20 # 在 PC 上 ping RDK X5
|
||
ping -c 3 192.168.1.31 # 在 PC 上 ping RK3506 #1
|
||
```
|
||
|
||
**预期**: `0% packet loss`。
|
||
**若不通**: 检查网线、IP、子网掩码、路由器是否拦 IGMP。
|
||
|
||
---
|
||
|
||
## 1. 三层架构详解
|
||
|
||
### 1.1 为什么分层?
|
||
|
||
| 层 | 设备 | 跑什么 | 不跑什么 | 为什么 |
|
||
|---|---|---|---|---|
|
||
| **PC (主控)** | x86 8GB+ | MoveIt2 / Nav2 / RViz / 仿真 / 编译 | 真电机驱动 | 算力大但不便实时控制硬件 |
|
||
| **RDK X5 (边缘 AI)** | ARM + 5 TOPS NPU | YOLO / SAM / Whisper / SLAM | MoveIt2 大规划 | NPU 加速推理,分担 PC 算力 |
|
||
| **RK3506 (实时控制)** | ARM 3 核 512MB | JointState / PID 闭环 / 编码器读取 | AI 推理 / RViz | 资源紧,但本地控制实时性好 |
|
||
|
||
### 1.2 数据流(典型抓取场景)
|
||
|
||
```
|
||
┌─────────────────────────────────────────┐
|
||
│ PC │
|
||
│ RViz 可视化 + 决策 + MoveIt2 规划 │
|
||
└─────┬───────────────────────┬───────────┘
|
||
│ /grasp_pose │ /joint_trajectory
|
||
│ (DDS) │ (DDS)
|
||
┌───────────────────────▼─────────┐ ┌─────────▼───────────┐
|
||
│ RDK X5 │ │ RK3506 #1 │
|
||
│ vision_node: │ │ joint_state_publisher│
|
||
│ YOLO 检测 → publish /grasp │ │ 编码器 → /joint_states│
|
||
│ (可选) VLA 推理(NPU 加速) │ │ 订阅 /cmd_vel 控制电机│
|
||
└─────────────────────────────────┘ └─────────────────────┘
|
||
┌─────────────────────┐
|
||
│ RK3506 #2 │
|
||
│ NPU 推理 / 备用控制│
|
||
│ (YOLO-Lite / SAM) │
|
||
└─────────────────────┘
|
||
```
|
||
|
||
### 1.3 通信方式(三选一)
|
||
|
||
| 方式 | 优点 | 缺点 | 用法 |
|
||
|---|---|---|---|
|
||
| **Multicast 默认** | 零配置,自动发现 | 路由器/防火墙可能拦 | 同网段 + 默认 |
|
||
| **Unicast discovery server** | 跨网段可用 | 要起 discovery server | 多 VLAN / 跨子网 |
|
||
| **Unicast `ROS_STATIC_PEERS`** | 简单、稳 | 节点列表要预先列 | 小规模 LAN |
|
||
|
||
**推荐先试 multicast,不通再切 unicast**。下面 Step 5 详解。
|
||
|
||
---
|
||
|
||
## 2. PC 主控完整配置
|
||
|
||
### 2.1 你的工作环境(选项 A: Linux)
|
||
|
||
假设你用 **Ubuntu 22.04** 真机(不是 Docker)。
|
||
|
||
```bash
|
||
# 2.1.1 装 ROS2 Humble
|
||
sudo apt install software-properties-common
|
||
sudo add-apt-repository universe
|
||
sudo apt install curl -y
|
||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
|
||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||
sudo apt update
|
||
sudo apt install ros-humble-desktop python3-colcon-common-extensions -y
|
||
|
||
# 验证
|
||
source /opt/ros/humble/setup.bash
|
||
ros2 --help # 应该输出 ros2 命令帮助
|
||
```
|
||
|
||
### 2.2 你的工作环境(选项 B: Windows + Docker)——本仓库主路径
|
||
|
||
如果你用的是本仓库的 Docker 工作流,环境已就绪:
|
||
```powershell
|
||
docker exec -it ros2_dev bash -lc "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && exec bash"
|
||
```
|
||
|
||
后续章节都假设你**在 Docker 容器内**操作。**PC 的"ROS_DOMAIN_ID=0"和"DDS 自动发现"对 LAN 上其他设备是开放的**——因为 docker-compose 用 `network_mode: host`,容器用宿主机网络栈。
|
||
|
||
### 2.3 PC 上启动本仓库的 bringup 全套
|
||
|
||
```bash
|
||
docker exec ros2_dev bash -lc "cd /root/ros2_ws && source install/setup.bash && ros2 launch bringup full_demo_launch.py"
|
||
```
|
||
|
||
预期输出(日志截取):
|
||
```
|
||
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-08-03-...
|
||
[INFO] [launch]: Default logging verbosity is set to INFO
|
||
[INFO] [talker-1]: process started with pid [56]
|
||
[INFO] [listener-2]: process started with pid [58]
|
||
[INFO] [talker-3]: process started with pid [60]
|
||
[INFO] [listener-4]: process started with pid [62]
|
||
[talker-3] [INFO] [...] talker_cpp started -> topic=chatter, period=500ms
|
||
[listener-4] [INFO] [...] listener_cpp subscribed <- chatter
|
||
```
|
||
|
||
11 个节点跑起来。如果 LAN 上有 RDK X5 / RK3506 节点,它们会自动被发现。
|
||
|
||
### 2.4 PC 端跨机网络验证
|
||
|
||
```bash
|
||
docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && ros2 node list --no-daemon"
|
||
```
|
||
|
||
预期(假设 RDK X5 还没装,只有 PC 自己):
|
||
```
|
||
/joint_state_publisher_cpp
|
||
/talker_py
|
||
/talker_cpp
|
||
/listener_py
|
||
/listener_cpp
|
||
/tf2_listener_cpp
|
||
/fake_camera_py
|
||
/image_processor_py
|
||
/fibonacci_action_server_py
|
||
/add_two_ints_server_py
|
||
```
|
||
|
||
如果 RDK X5 装好 ROS2 后,**它的节点也会出现在这里**。
|
||
|
||
---
|
||
|
||
## 3. RDK X5 边缘 AI 配置
|
||
|
||
### 3.1 准备工作
|
||
|
||
```bash
|
||
# SSH 到 RDK X5
|
||
ssh user@192.168.1.20
|
||
|
||
# 检查系统
|
||
uname -a
|
||
# Linux rdk-x5 5.10.xxx ...
|
||
|
||
cat /etc/os-release
|
||
# Ubuntu 22.04.4 LTS ... (地瓜官方镜像)
|
||
|
||
# 网络
|
||
ip addr show | grep inet
|
||
# 应该看到 192.168.1.20/24
|
||
```
|
||
|
||
### 3.2 装 ROS2(完整版)
|
||
|
||
```bash
|
||
# 同 PC 步骤,装桌面版(包含 RViz 远程)
|
||
sudo apt install ros-humble-desktop -y
|
||
|
||
# 加装本仓库相关包
|
||
sudo apt install -y \
|
||
ros-humble-cv-bridge \
|
||
ros-humble-tf2-ros \
|
||
ros-humble-tf2-tools \
|
||
ros-humble-ros-gz \
|
||
ros-humble-nav2-bringup \
|
||
ros-humble-moveit \
|
||
ros-humble-image-transport \
|
||
ros-humble-vision-msgs \
|
||
ros-humble-sensor-msgs \
|
||
ros-humble-geometry-msgs \
|
||
ros-humble-rmw-fastrtps-cpp \
|
||
python3-colcon-common-extensions
|
||
```
|
||
|
||
预计下载 ~500MB,装 5-10 分钟。
|
||
|
||
### 3.3 拷本仓库源码 + colcon build
|
||
|
||
```bash
|
||
# 从 PC 拷(在 PC 上)
|
||
scp -r D:\xs\ros2 user@192.168.1.20:~/ros2_ws
|
||
# 注意:D:\xs\ros2 拷到 RDK X5 后变成 ~/ros2_ws
|
||
|
||
# 在 RDK X5 上(SSH 进)
|
||
cd ~/ros2_ws
|
||
source /opt/ros/humble/setup.bash
|
||
|
||
# ARM 编译,首次 5-10 分钟
|
||
colcon build --symlink-install \
|
||
--packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup
|
||
|
||
# 预期输出(末尾)
|
||
Summary: 7 packages finished [8m 32s]
|
||
```
|
||
|
||
> ⚠️ **arm64 兼容性**: 全部 7 个包都用纯 Python + 标准 C++,**没有架构专属代码**,ARM 上 build 应该一次过。如果遇到 `Could NOT find X`,检查 apt 包名。
|
||
|
||
### 3.4 RDK X5 上启动 vision demo
|
||
|
||
```bash
|
||
# SSH 到 RDK X5
|
||
source /opt/ros/humble/setup.bash
|
||
source ~/ros2_ws/install/setup.bash
|
||
|
||
# 设 ROS_DOMAIN_ID(虽然默认是 0,但显式更稳)
|
||
export ROS_DOMAIN_ID=0
|
||
|
||
# 启动 fake_camera (sensor_msgs/Image 发布者)
|
||
ros2 run py_vision_demo fake_camera
|
||
|
||
# 预期
|
||
[INFO] [fake_camera_py]: fake_camera_py started: 320x240 @ 10fps -> /image_raw
|
||
```
|
||
|
||
### 3.5 PC 上验证 RDK X5 节点可见
|
||
|
||
```bash
|
||
# 在 PC / 容器内
|
||
docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && ros2 node list --no-daemon"
|
||
|
||
# 应该看到:
|
||
# /fake_camera_py (来自 RDK X5)
|
||
# /talker_py /listener_py ... (本地)
|
||
|
||
# 看 RDK X5 上 fake_camera 发的 /image_raw 频率
|
||
ros2 topic hz /image_raw --no-daemon
|
||
# 预期:average rate: 10.000
|
||
```
|
||
|
||
### 3.6 RDK X5 跑 YOLO 推理(扩展)
|
||
|
||
如果 RDK X5 装了 ultralytics + YOLO 模型:
|
||
|
||
```bash
|
||
# 安装
|
||
pip install ultralytics --break-system-packages # 如果是 Buildroot 系统不带 pip,先 apt install python3-pip
|
||
|
||
# 准备模型
|
||
# 把 yolov8n.pt 拷到 ~/models/
|
||
|
||
# 写一个 yolo_detector 节点(参考 py_vision_demo 写法):
|
||
# 订阅 /camera/color/image_raw (或 fake_camera 的 /image_raw)
|
||
# 推理 → publish /detections (vision_msgs/Detection2DArray)
|
||
```
|
||
|
||
这部分**需要你写新包**,参考 [`src/py_vision_demo/`](../src/py_vision_demo/)。
|
||
|
||
---
|
||
|
||
## 4. RK3506 精简 ROS2 配置(核心)
|
||
|
||
### 4.1 为什么 RK3506 要"精简"
|
||
|
||
| 配置 | 占用 RAM |
|
||
|---|---|
|
||
| Linux 基础系统 | ~80 MB |
|
||
| ROS2 rclpy 客户端 | ~50-80 MB |
|
||
| FastDDS 参与者(单节点) | ~30-50 MB |
|
||
| 默认 daemon (`ros2 daemon`) | ~50 MB ← **必须关** |
|
||
| RViz / rqt | ~300 MB ← **绝对不装** |
|
||
| MoveIt2 / Nav2 | 200-500 MB ← **不装** |
|
||
|
||
不精简 = 直接 OOM。
|
||
|
||
### 4.2 准备 RK3506
|
||
|
||
```bash
|
||
ssh user@192.168.1.31
|
||
uname -a
|
||
# Linux rk3506 5.10.xxx ...
|
||
|
||
free -h
|
||
# total used free shared buff/cache available
|
||
# Mem: 484Mi 95Mi 240Mi 1.0Mi 148Mi 380Mi
|
||
|
||
df -h /
|
||
# /dev/root 7.4G 1.2G 5.8G /
|
||
|
||
# 看是不是 aarch64(必须)
|
||
uname -m
|
||
# aarch64
|
||
```
|
||
|
||
### 4.3 装精简 ROS2
|
||
|
||
```bash
|
||
# 4.3.1 装 ROS2 apt 源(同 PC)
|
||
sudo apt install software-properties-common
|
||
sudo add-apt-repository universe
|
||
sudo apt install curl -y
|
||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
|
||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
||
echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||
sudo apt update
|
||
|
||
# 4.3.2 装精简 ROS2 包(注意:没有 desktop)
|
||
sudo apt install -y \
|
||
ros-humble-ros-base \
|
||
ros-humble-cv-bridge \
|
||
ros-humble-tf2-ros \
|
||
ros-humble-sensor-msgs \
|
||
ros-humble-geometry-msgs \
|
||
ros-humble-rmw-fastrtps-cpp \
|
||
ros-humble-ros2-control \
|
||
python3-colcon-common-extensions
|
||
|
||
# 检查内存
|
||
free -h
|
||
# 装完后大约用掉 ~250-280 MB(系统+ROS2+daemon)
|
||
```
|
||
|
||
### 4.4 关闭 ROS2 daemon(省 ~50MB)
|
||
|
||
ROS2 默认启动 `ros2 daemon` 加速 `ros2 ...` 命令调用,但每节点起一个 daemon 浪费内存。
|
||
|
||
```bash
|
||
# 停 + 禁启 daemon
|
||
pkill -9 -f ros2_daemon 2>/dev/null
|
||
|
||
# 注:`alias ros2='ros2 --no-daemon'` 写到 ~/.bashrc **不会传给子脚本**(脚本里 `ros2` 不展开 alias)。
|
||
# Humble 里 `ros2 topic ... --no-daemon` 这个 flag 已被 deprecated,改用下面的方案:
|
||
# 设 CYCLONE_DDS_URI / FASTRTPS_DEFAULT_PROFILES_FILE 走静态发现,从根本上不用 daemon
|
||
|
||
# 验证: 不再起 daemon
|
||
ps aux | grep -v grep | grep -i daemon | head -3
|
||
# 应该空
|
||
```
|
||
|
||
### 4.5 加 FastDDS 单播发现配置
|
||
|
||
RK3506 默认走 multicast,但某些网络环境 multicast 不通(如路由器拦了)。**改用 unicast 显式指定 PC + RDK X5** 更稳。
|
||
|
||
```bash
|
||
mkdir -p ~/.ros
|
||
|
||
cat > ~/.ros/fastdds.xml <<'EOF'
|
||
<?xml version="1.0" encoding="UTF-8" ?>
|
||
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
|
||
<transport_descriptors>
|
||
<transport_descriptor>
|
||
<transport_id>udp_transport</transport_id>
|
||
<type>UDPv4</type>
|
||
</transport_descriptor>
|
||
</transport_descriptors>
|
||
|
||
<participant profile_name="rk3506_participant" is_default_profile="true">
|
||
<rtps>
|
||
<builtin>
|
||
<initialPeersList>
|
||
<initialPeer>
|
||
<address>192.168.1.10</address>
|
||
<port>7400</port>
|
||
</initialPeer>
|
||
<initialPeer>
|
||
<address>192.168.1.20</address>
|
||
<port>7400</port>
|
||
</initialPeer>
|
||
</initialPeersList>
|
||
|
||
<discovery_config>
|
||
<discoveryProtocol>SIMPLE</discoveryProtocol>
|
||
<!-- discoveryStrategy 决定 SIMPLE 的语义:STATIC(只连 initialPeersList)/ NONE(全不主动连)/ MULTICAST(默认)
|
||
跟 <initialPeersList> 配合才能实现"单播静态发现" -->
|
||
<discoveryStrategy>STATIC</discoveryStrategy>
|
||
<leaseDuration>30</leaseDuration>
|
||
</discovery_config>
|
||
|
||
<metatrafficUnicastLocatorList>
|
||
<locator>
|
||
<udpv4>
|
||
<address>0.0.0.0</address>
|
||
<port>7400</port>
|
||
</udpv4>
|
||
</locator>
|
||
</metatrafficUnicastLocatorList>
|
||
</builtin>
|
||
</rtps>
|
||
</participant>
|
||
</profiles>
|
||
EOF
|
||
|
||
# 加进 .bashrc
|
||
cat >> ~/.bashrc <<'EOF'
|
||
export ROS_DOMAIN_ID=0
|
||
export ROS_LOCALHOST_ONLY=0
|
||
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
|
||
export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml
|
||
EOF
|
||
|
||
source ~/.bashrc
|
||
```
|
||
|
||
> 💡 `discoveryStrategy=STATIC` 让 RK3506 只找列表里的两个 IP,**不会到处广播**,省网络+省电。
|
||
|
||
### 4.6 把本仓库拷到 RK3506 + build
|
||
|
||
```bash
|
||
# 在 PC 上(假设在 D:\xs\ros2)
|
||
scp -r D:\xs\ros2 user@192.168.1.31:~/ros2_ws
|
||
|
||
# SSH 到 RK3506
|
||
ssh user@192.168.1.31
|
||
cd ~/ros2_ws
|
||
source /opt/ros/humble/setup.bash
|
||
|
||
# 编译(ARM,首次 5-10 分钟)
|
||
colcon build --symlink-install \
|
||
--packages-select py_pubsub cpp_pubsub cpp_robot_tf2 bringup
|
||
|
||
# 预期
|
||
Summary: 4 packages finished [6m 12s]
|
||
```
|
||
|
||
> ⚠️ **如果 RK3506 资源太紧编译失败**,只 build 1-2 个必要的包:
|
||
> ```bash
|
||
> colcon build --packages-select cpp_robot_tf2
|
||
> ```
|
||
|
||
### 4.7 RK3506 上启动 joint_state_publisher
|
||
|
||
```bash
|
||
source /opt/ros/humble/setup.bash
|
||
source ~/ros2_ws/install/setup.bash
|
||
export ROS_DOMAIN_ID=0
|
||
|
||
# 跑 cpp_robot_tf2 的关节发布者(executable 名是 joint_state_publisher_cpp,不是 joint_state_publisher)
|
||
ros2 run cpp_robot_tf2 joint_state_publisher_cpp
|
||
|
||
# 预期
|
||
[joint_state_publisher_cpp]: joint_state_publisher_cpp started, joints: 3
|
||
```
|
||
|
||
> 注: 这是**仿真关节**(3 关节 sin 运动),真实电机时改成读编码器(见 [第 7 章](#7-rk3506-接真实电机--编码器))。
|
||
|
||
### 4.8 PC 上验证 RK3506 节点可见
|
||
|
||
```bash
|
||
# 在 PC / Docker 内
|
||
docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && ros2 node list --no-daemon"
|
||
# 应该看到:
|
||
# /joint_state_publisher_cpp ← 来自 RK3506 (192.168.1.31)
|
||
# /talker_py /listener_py ... ← 本地 PC 节点
|
||
```
|
||
|
||
**看不到时**: 看下面 [第 9 章 故障排查](#9-故障排查大全)。
|
||
|
||
---
|
||
|
||
## 5. 三机 LAN DDS 组网
|
||
|
||
### 5.1 验证 multicast 通(默认方式)
|
||
|
||
```bash
|
||
# 在 RK3506 上
|
||
sudo tcpdump -i eth0 -n udp port 7400 -c 20
|
||
# 应该看到来自 PC (192.168.1.10) 和 RDK X5 (192.168.1.20) 的 UDP 包
|
||
|
||
# Ctrl+C 停止
|
||
```
|
||
|
||
**如果 multicast 不通**: 走 [4.5 单播配置](#45-加-fastdds-单播发现配置)。
|
||
|
||
### 5.2 三机互相"看见"节点
|
||
|
||
| 操作 | PC | RDK X5 | RK3506 #1 |
|
||
|---|---|---|---|
|
||
| `ros2 node list --no-daemon` | 见 PC + RDK + RK3506 节点 | 见 PC + RDK + RK3506 节点 | 见 PC + RDK + RK3506 节点 |
|
||
|
||
**预期**: 三机每台的 `node list` 输出**完全一致**(都看到 3 台的节点)。
|
||
|
||
### 5.3 跨机 topic 频率
|
||
|
||
```bash
|
||
# 在 RK3506 上看 /chatter 频率(由 PC 的 talker 发布)
|
||
ros2 topic hz /chatter --no-daemon
|
||
# average rate: 4.000 (4Hz = 2 talker × 2Hz)
|
||
```
|
||
|
||
**延迟**: 跨机 topic echo 一般 < 5ms(LAN);> 50ms 说明网络出问题。
|
||
|
||
---
|
||
|
||
## 6. 跨机 Demo 联调
|
||
|
||
### 6.1 场景 A:PC 视觉 → RK3506 控制(简化版)
|
||
|
||
```bash
|
||
# === 在 PC (Docker) ===
|
||
docker exec ros2_dev bash -lc "cd /root/ros2_ws && source install/setup.bash && ros2 run py_vision_demo fake_camera"
|
||
|
||
# === 在 RK3506 ===
|
||
source /opt/ros/humble/setup.bash
|
||
source ~/ros2_ws/install/setup.bash
|
||
ros2 topic echo /image_raw --no-daemon # 看到 PC 发的图像
|
||
|
||
# === 在 PC ===
|
||
docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && ros2 run py_vision_demo image_processor"
|
||
# 看到 PC 自己处理 + (如果有 RDK X5 / RK3506 也跑 image_processor,都能收到)
|
||
```
|
||
|
||
### 6.2 场景 B:RDK X5 视觉 + RK3506 电机(推荐起手)
|
||
|
||
```bash
|
||
# === 在 RDK X5 (SSH) ===
|
||
ssh user@192.168.1.20
|
||
source /opt/ros/humble/setup.bash
|
||
source ~/ros2_ws/install/setup.bash
|
||
ros2 run py_vision_demo fake_camera # 或你写的 YOLO 节点
|
||
|
||
# === 在 RK3506 #1 (SSH) ===
|
||
ssh user@192.168.1.31
|
||
source /opt/ros/humble/setup.bash
|
||
source ~/ros2_ws/install/setup.bash
|
||
ros2 run cpp_robot_tf2 joint_state_publisher_cpp
|
||
# (后续:接真实电机时改读编码器)
|
||
|
||
# === 在 PC 上监控全部 ===
|
||
docker exec ros2_dev bash -lc "ros2 node list"
|
||
# 看到 /fake_camera (RDK X5), /joint_state_publisher (RK3506,launch 重命名去掉了 _cpp 后缀)
|
||
|
||
docker exec ros2_dev bash -lc "ros2 topic hz /image_raw /joint_states"
|
||
# /image_raw: ~10Hz
|
||
# /joint_states: ~20Hz
|
||
```
|
||
|
||
### 6.3 场景 C:三机跑本仓库 full_demo
|
||
|
||
```bash
|
||
# === PC ===
|
||
docker exec ros2_dev bash -lc "cd /root/ros2_ws && source install/setup.bash && ros2 launch bringup full_demo_launch.py"
|
||
# 11 个 PC 节点
|
||
|
||
# === RDK X5 ===
|
||
ssh user@192.168.1.20
|
||
ros2 run py_vision_demo fake_camera # 1 节点
|
||
|
||
# === RK3506 #1 ===
|
||
ssh user@192.168.1.31
|
||
ros2 run cpp_robot_tf2 joint_state_publisher_cpp # 1 节点
|
||
|
||
# === RK3506 #2 ===
|
||
ssh user@192.168.1.32
|
||
ros2 run cpp_robot_tf2 tf2_listener_cpp # 1 节点
|
||
|
||
# === 在任一设备看 ===
|
||
ros2 node list --no-daemon
|
||
# 看到 PC 的 11 + RDK X5 的 1 + RK3506 的 2 = 14 节点!
|
||
```
|
||
|
||
---
|
||
|
||
## 7. RK3506 接真实电机 / 编码器
|
||
|
||
### 7.1 硬件接线(典型 6-DoF 机械臂)
|
||
|
||
```
|
||
总控舵机 (例如 LewanSoul/Hiwonder LX-16):
|
||
- 1 根总线(Bus Servo): 6 个舵机串联,数据线 Tx/Rx 共用
|
||
- 电源 7-12V(单独供电,不要从 RK3506 取)
|
||
- 接线到 RK3506 串口(UART): TXD/RXD/GND
|
||
|
||
编码器(可选,闭环舵机内部已有):
|
||
- SPI 接口(Magnetic encoder AS5048A)
|
||
- 或通过总线舵机协议反馈
|
||
|
||
RK3506:
|
||
- /dev/ttyS0 / /dev/ttyS1 (硬件串口)
|
||
- /dev/ttyUSB0 (USB-TTL 调试线)
|
||
```
|
||
|
||
### 7.2 写一个电机驱动节点(C++)
|
||
|
||
参考本仓库 `cpp_robot_tf2/src/joint_state_publisher.cpp`(模板)。新建 `motor_driver` 包:
|
||
|
||
```cpp
|
||
// ~/ros2_ws/src/motor_driver/src/motor_driver.cpp
|
||
#include <chrono>
|
||
#include <cstdio>
|
||
#include <fcntl.h>
|
||
#include <termios.h>
|
||
#include <unistd.h>
|
||
|
||
#include "rclcpp/rclcpp.hpp"
|
||
#include "sensor_msgs/msg/joint_state.hpp"
|
||
|
||
class MotorDriver : public rclcpp::Node {
|
||
public:
|
||
MotorDriver() : rclcpp::Node("motor_driver") {
|
||
pub_ = this->create_publisher<sensor_msgs::msg::JointState>("/joint_states", 10);
|
||
|
||
// 打开串口(假设 /dev/ttyS0 是总线舵机)
|
||
fd_ = open("/dev/ttyS0", O_RDWR | O_NOCTTY | O_NDELAY);
|
||
if (fd_ < 0) {
|
||
RCLCPP_FATAL(this->get_logger(), "Cannot open /dev/ttyS0");
|
||
return;
|
||
}
|
||
struct termios opts;
|
||
tcgetattr(fd_, &opts);
|
||
cfsetispeed(&opts, B115200);
|
||
cfsetospeed(&opts, B115200);
|
||
opts.c_cflag |= (CLOCAL | CREAD);
|
||
opts.c_cflag &= ~PARENB;
|
||
opts.c_cflag &= ~CSTOPB;
|
||
opts.c_cflag &= ~CSIZE;
|
||
opts.c_cflag |= CS8;
|
||
tcsetattr(fd_, TCSANOW, &opts);
|
||
|
||
timer_ = this->create_wall_timer(50ms, std::bind(&MotorDriver::tick, this));
|
||
|
||
// 订阅 cmd
|
||
sub_ = this->create_subscription<sensor_msgs::msg::JointState>(
|
||
"/cmd_joint_states", 10,
|
||
[this](const sensor_msgs::msg::JointState::SharedPtr msg) {
|
||
// 发送舵机命令(总线舵机协议)
|
||
send_servo_cmd(msg);
|
||
});
|
||
}
|
||
|
||
private:
|
||
void tick() {
|
||
// 1) 读舵机当前角度(总线舵机协议 INSTRUCTION 0x02 read position)
|
||
// 2) 构造 JointState 消息
|
||
auto msg = sensor_msgs::msg::JointState();
|
||
msg.header.stamp = this->now();
|
||
msg.name = {"joint1", "joint2", "joint3", "joint4", "joint5", "joint6"};
|
||
msg.position.resize(6);
|
||
// 读 6 个舵机当前角(伪代码)
|
||
for (int i = 0; i < 6; i++) msg.position[i] = read_servo_angle(i);
|
||
pub_->publish(msg);
|
||
}
|
||
|
||
void send_servo_cmd(const sensor_msgs::msg::JointState::SharedPtr& msg) {
|
||
// 总线舵机协议: 0x55 0x55 len id cmd param...
|
||
// 这里写 6 个舵机的目标角度
|
||
for (size_t i = 0; i < msg->position.size() && i < 6; i++) {
|
||
uint8_t id = i + 1; // 舵机 ID 1-6
|
||
uint16_t angle = static_cast<uint16_t>((msg->position[i] + 3.14159) / 6.28318 * 1000);
|
||
uint8_t buf[8] = {0x55, 0x55, 0x08, id, 0x03, 0x1E, (uint8_t)(angle & 0xFF), (uint8_t)(angle >> 8)};
|
||
write(fd_, buf, 8);
|
||
}
|
||
}
|
||
|
||
double read_servo_angle(int id) {
|
||
// 实际读位置:发送读指令 → 等待响应 → 解析
|
||
return 0.0; // 简化
|
||
}
|
||
|
||
rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr pub_;
|
||
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr sub_;
|
||
rclcpp::TimerBase::SharedPtr timer_;
|
||
int fd_ = -1;
|
||
};
|
||
|
||
int main(int argc, char** argv) {
|
||
rclcpp::init(argc, argv);
|
||
rclcpp::spin(std::make_shared<MotorDriver>());
|
||
rclcpp::shutdown();
|
||
return 0;
|
||
}
|
||
```
|
||
|
||
### 7.3 上电测试(务必小心!)
|
||
|
||
```
|
||
1. 舵机先**单独供电**,不上机械臂(用编程器/数据线模式调零)
|
||
2. RK3506 接 USB-TTL 调试线,登录 ssh
|
||
3. 启动 motor_driver 节点(默认发布 0° 关节角)
|
||
4. 手动旋转舵机,看 /joint_states 是否变化
|
||
5. 测试 `/cmd_joint_states` 订阅(在 PC 上 ros2 topic pub)
|
||
ros2 topic pub /cmd_joint_states sensor_msgs/msg/JointState "{name: ['j1'], position: [1.57]}"
|
||
6. 确认舵机收到命令并转动
|
||
7. 装上机械臂,运行 MoveIt2 demo
|
||
```
|
||
|
||
---
|
||
|
||
## 8. ros2_control 闭环
|
||
|
||
### 8.1 ros2_control 是什么
|
||
|
||
`ros2_control` 是电机驱动的**抽象层**。你写一个 `HardwareInterface`,RK3506 的真驱动接进去,
|
||
高层节点(PC 的 MoveIt2)只看到标准接口(`position_cmd` / `position_state`),不关心底层是舵机 / 步进电机 / 谐波减速。
|
||
|
||
```
|
||
┌──────────────┐ ┌──────────────────────────┐ ┌─────────────┐
|
||
│ MoveIt2 │ ──→ │ ros2_control │ ──→ │ 真电机驱动 │
|
||
│ /joint_ │ std │ ControllerManager │ │ (Bus Servo)│
|
||
│ trajectory │ if │ (JointTrajectoryController)│ │ │
|
||
└──────────────┘ └──────────────────────────┘ └─────────────┘
|
||
```
|
||
|
||
### 8.2 在 RK3506 上跑 controller_manager
|
||
|
||
```bash
|
||
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers -y
|
||
```
|
||
|
||
写一个 `motor_hw_interface` 包(本仓库后续可加),声明 6 个关节的 hardware interface。
|
||
|
||
### 8.3 PC 上跑 MoveIt2(规划)
|
||
|
||
```bash
|
||
sudo apt install ros-humble-moveit -y
|
||
|
||
# 启动 MoveIt(配 6-DoF SRDF)
|
||
ros2 launch moveit2_tutorials demo.launch.py
|
||
```
|
||
|
||
PC 算轨迹 → 通过 `FollowJointTrajectory` Action 发给 RK3506 → RK3506 controller_manager 执行。
|
||
|
||
---
|
||
|
||
## 9. 故障排查大全
|
||
|
||
### 9.1 看不到其他机器的节点
|
||
|
||
```bash
|
||
# 步骤 1: 网络通?
|
||
ping -c 3 192.168.1.31
|
||
|
||
# 步骤 2: 端口 7400 通?
|
||
nc -zv 192.168.1.31 7400
|
||
|
||
# 步骤 3: multicast 通?
|
||
tcpdump -i eth0 -n udp port 7400 -c 5
|
||
|
||
# 步骤 4: ROS_DOMAIN_ID 一致?
|
||
echo $ROS_DOMAIN_ID # 三机都要一样
|
||
```
|
||
|
||
### 9.2 multicast 不通
|
||
|
||
切单播 (4.5 节):
|
||
```bash
|
||
# 分隔符是英文逗号 `,`,不是分号 `;`(FastDDS 默认)
|
||
export ROS_STATIC_PEERS="192.168.1.10:7400,192.168.1.20:7400"
|
||
```
|
||
|
||
### 9.3 RK3506 内存不足
|
||
|
||
```bash
|
||
free -h
|
||
# 看哪些进程吃内存
|
||
ps aux --sort=-%mem | head -10
|
||
|
||
# 杀掉
|
||
pkill -9 -f ros2_daemon
|
||
pkill -9 -f ros2 # 注意:会杀掉所有 ROS2 进程,先确认其他节点不跑
|
||
```
|
||
|
||
### 9.4 编译失败
|
||
|
||
```bash
|
||
# 列报错包名,查 apt 是否装齐
|
||
dpkg -l | grep ros-humble-rclcpp
|
||
|
||
# 装缺失依赖
|
||
sudo rosdep init && rosdep update
|
||
sudo rosdep install -i --from-paths src/
|
||
|
||
# 清理重 build
|
||
cd ~/ros2_ws && rm -rf build install log
|
||
colcon build --symlink-install
|
||
```
|
||
|
||
### 9.5 节点启动后立刻死
|
||
|
||
```bash
|
||
ros2 run <pkg> <node> --log-level debug
|
||
# 看具体 traceback
|
||
```
|
||
|
||
常见原因:
|
||
- 参数缺失(`use_sim_time` 未设)
|
||
- 缺少文件(URDF 路径错)
|
||
- 网络端口冲突
|
||
|
||
---
|
||
|
||
## 10. 性能调优 Checklist
|
||
|
||
| 项 | 目标 | 命令 |
|
||
|---|---|---|
|
||
| RAM 占用 | < 350MB | `free -h` |
|
||
| CPU 空闲 | > 60% | `top -bn1 \| head -20` |
|
||
| TF lookup 延迟 | < 5ms | `ros2 topic delay /tf --no-daemon` |
|
||
| DDS heartbeat | < 100ms | `ros2 daemon stop; ros2 --no-daemon ...` |
|
||
| 电机响应延迟 | < 50ms | 录 topic 时间戳,看从 PC 发出到 RK3506 转动 |
|
||
|
||
---
|
||
|
||
## 附录 A: 采购清单
|
||
|
||
| 项 | 数量 | 备注 |
|
||
|---|---|---|
|
||
| RDK X5 | 1 | 地瓜机器人官方 |
|
||
| RK3506 开发板 | 2 | 注意要 aarch64 Linux 镜像 |
|
||
| 6-DoF 机械臂套件 | 1 | 推荐 LewanSoul/Hiwonder 铝架 |
|
||
| 总线舵机(6 个) | 1 套 | 型号 LX-16 / LX-224 |
|
||
| 舵机电源(7-12V 5A+) | 1 | **必须独立供电** |
|
||
| USB-TTL 串口线 | 2 | RK3506 debug 用 |
|
||
| 网线 + 路由器 | 1 套 | 三机同网段 |
|
||
| 急停按钮 | 1 | 接 RK3506 GPIO |
|
||
|
||
---
|
||
|
||
## 附录 B: 关键命令速查
|
||
|
||
```bash
|
||
# 三机通用
|
||
source /opt/ros/humble/setup.bash
|
||
ros2 node list --no-daemon
|
||
ros2 topic list --no-daemon
|
||
ros2 topic hz /topic --no-daemon
|
||
ros2 topic echo /topic --no-daemon
|
||
|
||
# RK3506 内存
|
||
free -h
|
||
ps aux --sort=-%mem | head
|
||
|
||
# 网络
|
||
ip addr show
|
||
ping -c 3 <ip>
|
||
nc -zv <ip> 7400
|
||
|
||
# DDS 配置
|
||
cat ~/.ros/fastdds.xml
|
||
echo $ROS_STATIC_PEERS
|
||
|
||
# colcon build
|
||
cd ~/ros2_ws && colcon build --packages-select <pkg>
|
||
cd ~/ros2_ws && rm -rf build install log && colcon build
|
||
|
||
# ros2_control
|
||
ros2 control list_controllers
|
||
ros2 control list_hardware_interfaces
|
||
|
||
# MoveIt2
|
||
ros2 launch moveit2_tutorials demo.launch.py
|
||
```
|
||
|
||
---
|
||
|
||
## 下一步建议
|
||
|
||
读完本篇你能做到:
|
||
|
||
✅ 三机 ROS2 互通
|
||
✅ RK3506 接真实电机
|
||
✅ PC + RDK X5 + RK3506 完整工作流
|
||
|
||
**接着学习**:
|
||
- ros2_control 完整配置(`doc/99-embodied-ai.md` 路径)
|
||
- MoveIt2 SRDF 生成 + 路径规划
|
||
- Gazebo 物理仿真验证(在 PC 上)
|
||
- NPU 推理在 RDK X5 / RK3506 #2 上跑(YOLO-Lite)
|
||
|
||
如需在本仓库加 `ros2_control_demo` / `motor_driver` 包,后续 PR 即可。
|
||
|
||
---
|
||
|
||
---
|
||
|
||
## 📖 阅读路径导航
|
||
|
||
> 💡 这是仓库 `doc/` 下所有文档的推荐阅读顺序。[返回 README 总导航](../README.md#-23-篇文档怎么读)
|
||
>
|
||
> ⏱ **本文预计阅读时间**: 90 分钟
|
||
> 📍 **当前位置**: 第 23 / 24 篇
|
||
|
||
- ⏮ **上一篇**: [VLA / 机器人开发路线图](99-embodied-ai.md)
|