ROS2与Android入门教程-配置android手机通过蓝牙连接ubuntu

说明

• 介绍如何让android手机通过蓝牙连接到ubuntu
• 环境：ubuntu20.04 + 华为手机

安装蓝牙

• 利用脚本安装蓝牙，并下载手机apk和速度转换脚本

# install rcm 
curl -k https://www.ncnynl.com/rcm.sh | bash - 
# install bluetooth 
rcm common install_bluetooth 

• 安装后手机APP和速度转换脚本，放在~/tools/ailibot2_app目录下

界面下配对：

• 1. 手机开启蓝牙，进入设置->蓝牙->开启
• 2. PC端开启蓝牙
• 点右上角图标，下拉选择setting->bluetooth标识->bluetooth setting

• 如果没有开启蓝牙，先开启蓝牙
• 如果已经开启，选择自己开启了蓝牙功能的手机进行配对

• 配对好，即可等待手机进行连接

终端下配对

• 执行命令bluetoothctl工具，扫描蓝牙服务,获取设备的地址

$ bluetoothctl
Agent registered
[CHG] Device 50:B9:BB:9B:33:A3 RSSI: -82
[CHG] Device 4C:50:F1:0E:2C:60 RSSI: -91
[bluetooth]# scan on
[NEW] Device D0:5A:FD:EF:C7:70 realme X7 Pro
[NEW] Device 50:B9:BB:9B:33:A3 50-B9-BB-9B-33-A3
[NEW] Device 4C:50:F1:0E:2C:60 OPPO A95 5G
[NEW] Device 75:3D:31:5E:3B:1F 75-3D-31-5E-3B-1F
[NEW] Device E0:F4:42:79:E0:74 HONOR X10
[NEW] Device 5B:DC:FF:13:27:C5 5B-DC-FF-13-27-C5
[NEW] Device 5E:84:1A:EF:12:EF 5E-84-1A-EF-12-EF

• 找到自己的设备名称对应的地址，比如我们是手机HONOR X10，地址是E0:F4:42:79:E0:74
• 进行配对

[bluetooth]# pair E0:F4:42:79:E0:74
Attempting to pair with E0:F4:42:79:E0:74
[CHG] Device E0:F4:42:79:E0:74 Connected: yes
Request confirmation
[agent] Confirm passkey 340256 (yes/no): yes
[CHG] Device E0:F4:42:79:E0:74 Modalias: bluetooth:v010Fp107Ed1436
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 0000046a-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001105-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 0000110a-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 0000110c-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001112-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001115-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001116-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 0000111f-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 0000112f-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001132-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001200-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001800-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 00001801-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 0000fe35-0000-1000-8000-00805f9b34fb
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 11c8b310-80e4-4276-afc0-f81590b2177f
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 8ce255c0-200a-11e0-ac64-0800200c9a66
[CHG] Device E0:F4:42:79:E0:74 UUIDs: 9664aa26-d76c-43ad-9775-d310f253a408
[CHG] Device E0:F4:42:79:E0:74 ServicesResolved: yes
[CHG] Device E0:F4:42:79:E0:74 Paired: yes
Pairing successful
[CHG] Device E0:F4:42:79:E0:74 ServicesResolved: no
[CHG] Device E0:F4:42:79:E0:74 Connected: no
[bluetooth]# 

• 提示确认选择yes，同时手机端会提示确认连接，选择yes，即可建立配对。
• 配对完成，可以设置可检测，等待手机连接即可

ubuntu@Ailibot2-DEV-NUC:~$ sdptool add SP
Serial Port service registered
ubuntu@Ailibot2-DEV-NUC:~$ hcitool dev
Devices:
    hci0    08:5B:D6:9C:A1:34
ubuntu@Ailibot2-DEV-NUC:~$ sudo hciconfig hci0 piscan