About rosserial_stm32 on STM32 L4 series

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Excuse me, I am not fluent in English.So I use machine translation.

I tried to operate STM32 L4 series using this library ( https://github.com/yoneken/rosserial_... ).

I referred to here(https://www.slideshare.net/k_yone/rosserial-stm32).

However, I got such an error.

$rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600

[INFO] [1553585723.997853]: ROS Serial Python Node

[INFO] [1553585724.007428]: Connecting to /dev/ttyACM0 at 57600 baud

[INFO] [1553585726.113745]: Requesting topics...

[ERROR] [1553585741.116108]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

How can I solve this error?

##environment##

• Ubuntu 16.04 + kinetic

• STM32L476

• rosserial_stm32

• SW4STM32 + CubeMX + ST-Link

##used commands##

$ code STM32Hardware.h

In STM32Hardware.h

-#include "stm32f3xx_hal.h"

-#include "stm32f3xx_hal_uart.h"

-#include "stm32f3xx_hal_tim.h"

+#include "stm32l4xx_hal.h"

+#include "stm32l4xx_hal_uart.h"

+#include "stm32l4xx_hal_tim.h"

then...

$ cd ~/catkin_ws

$ catkin_make

$ cd ./src/rosserial_stm32/src/ros_lib/examples

$ cp -r chatter ~/workspace

$ cd ~/workspace/chatter

$ rosrun rosserial_stm32 make_libraries.py .

Start CubeMX and load chatter.ioc.

Configure peripheral settings.

Configuration chatter STM32CubeMX 5.0.1 Date 03/27/2019 MCU STM32L476RGTx

PERIPHERALS MODES FUNCTIONS PINS RCC Crystal/Ceramic Resonator RCC_OSC32_IN PC14-OSC32_IN (PC14) RCC Crystal/Ceramic Resonator RCC_OSC32_OUT PC15-OSC32_OUT (PC15) SYS Serial Wire SYS_JTCK-SWCLK PA14 (JTCK-SWCLK) SYS Serial Wire SYS_JTMS-SWDIO PA13 (JTMS-SWDIO) SYS SysTick SYS_VS_Systick VP_SYS_VS_Systick TIM2 Internal Clock TIM2_VS_ClockSourceINT VP_TIM2_VS_ClockSourceINT USART2 Asynchronous USART2_RX PA3 USART2 Asynchronous USART2_TX PA2

Pin Nb PINs FUNCTIONs LABELs 2 PC13 GPIO_EXTI13 B1 [Blue PushButton] 3 PC14-OSC32_IN (PC14) RCC_OSC32_IN 4 PC15-OSC32_OUT (PC15) RCC_OSC32_OUT 5 PH0-OSC_IN (PH0)* RCC_OSC_IN 6 PH1-OSC_OUT (PH1)* RCC_OSC_OUT 16 PA2 USART2_TX USART_TX 17 PA3 USART2_RX USART_RX 21 PA5 GPIO_Output LD2 [green Led] 46 PA13 (JTMS-SWDIO) SYS_JTMS-SWDIO TMS 49 PA14 (JTCK-SWCLK) SYS_JTCK-SWCLK TCK 55 PB3 (JTDO-TRACESWO)* SYS_JTDO-SWO SWO PERIPHERALS MODES FUNCTIONS PINS RCC Crystal/Ceramic Resonator RCC_OSC32_IN PC14-OSC32_IN (PC14) RCC Crystal/Ceramic Resonator RCC_OSC32_OUT PC15-OSC32_OUT (PC15) SYS Serial Wire SYS_JTCK-SWCLK PA14 (JTCK-SWCLK) SYS Serial Wire SYS_JTMS-SWDIO PA13 (JTMS-SWDIO) SYS SysTick SYS_VS_Systick VP_SYS_VS_Systick TIM2 Internal Clock TIM2_VS_ClockSourceINT VP_TIM2_VS_ClockSourceINT USART2 Asynchronous USART2_RX PA3 USART2 Asynchronous USART2_TX PA2

Pin Nb PINs FUNCTIONs LABELs 2 PC13 GPIO_EXTI13 B1 [Blue PushButton] 3 PC14-OSC32_IN (PC14) RCC_OSC32_IN 4 PC15-OSC32_OUT (PC15) RCC_OSC32_OUT 5 PH0-OSC_IN (PH0)* RCC_OSC_IN 6 PH1-OSC_OUT (PH1)* RCC_OSC_OUT 16 PA2 USART2_TX USART_TX 17 PA3 USART2_RX USART_RX 21 PA5 GPIO_Output LD2 [green Led] 46 PA13 (JTMS-SWDIO) SYS_JTMS-SWDIO TMS 49 PA14 (JTCK-SWCLK) SYS_JTCK-SWCLK TCK 55 PB3 (JTDO-TRACESWO)* SYS_JTDO-SWO SWO

SOFTWARE PROJECT `` Project Settings : Project Name : chatter Project Folder : /home/hoge1/workspace/chatter Toolchain / IDE : SW4STM32 Firmware Package Name and Version : STM32Cube FW_L4 V1.13.0 Code Generation Settings : STM32Cube Firmware Library Package : Copy only the necessary library files Generate peripheral initialization as a pair of '.c/.h' files per peripheral : No Backup previously generated files when re-generating : No Delete previously generated files when not re-generated : Yes Set all free pins as analog (to optimize the power consumption) : No

Toolchains Settings : Compiler Optimizations :

then,generate code for SW4STM32.

At SW4STM32 ,convert C to C++.