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USB端口号和波特率都能通过launch文件配置。
manipulator_ros_serial.launch
感觉应该就像apm.launch一样,可以在里面修改指定对应串口和波特率。或者可以命令行启动的时候指定。
摘自:
做工程时需要在树莓派进行串口通信。具体为接收到某个ROS的topic数据后,向串口下发数据。代码编写有两种方法。
方法一:借助serial库
1、运行环境为ubuntu,首先安装serial库:
sudo apt-get install serial
2、配置编写的package中的CMakeLists.txt
在find_package中添加serial;
3、给设备的USB端口权限;
4、代码范例:
manipulator_ros_serial.cpp
#include #include #include #include #define sBUFFERSIZE 7unsigned char s_buffer[sBUFFERSIZE]; using namespace std;serial::Serial ser;//trans different serial cmds according to different action_cmd(joystick button)void write_action_cmd(const std_msgs::Int64& action_cmd){ memset(s_buffer,0,sizeof(s_buffer)); if( 1 == action_cmd.data ){ s_buffer[0] = 0x55; s_buffer[1] = 0x55; s_buffer[2] = 0x05; s_buffer[3] = 0x06; s_buffer[4] = 0x01; s_buffer[5] = 0x01; s_buffer[6] = 0x00; //std::cout<<"cmd has been received and published!!!"<<&std::endl; } ser.write(s_buffer,sBUFFERSIZE); }int main(int argc, char** argv){ ros::init(argc, argv, "manipulator_ros_serial_node"); ros::NodeHandle nh; ros::NodeHandle nh_private("~"); std::string serial_port_; int baudrate_; nh_private.param("serial_port", serial_port_, "/dev/ttyUSB0"); nh_private.param("baudrate", baudrate_, 9600); std::cout<<"The serial port is "<
5、USB端口号和波特率都能通过launch文件配置。
manipulator_ros_serial.launch
方法二:借助boost
1、运行环境为raspbian,raspbian没有serial库;
2、代码范例
manipulator_ros.h
#ifndef MANIPULATOR_SERIAL_H_#define MANIPULATOR_SERIAL_H_#include #include #include #include #include boost::asio::io_service io;boost::asio::serial_port sp(io);namespace manipulator_serial_namespace{class ManipulatorSerial{ public: ManipulatorSerial(); ~ManipulatorSerial(); ros::Subscriber write_sub; //boost::asio::io_service io; void write_action_cmd(const std_msgs::Int64& action_cmd); }; }#endif
manipulator_serial.cpp
#include #define sBUFFERSIZE 7unsigned char s_buffer[sBUFFERSIZE];using namespace std;using namespace boost::asio;namespace manipulator_serial_namespace{ ManipulatorSerial::ManipulatorSerial(){ ros::NodeHandle nh; ros::NodeHandle nh_private("~"); std::string serial_port_; int baudrate_; nh_private.param("serial_port", serial_port_, "/dev/ttyUSB0"); nh_private.param("baudrate", baudrate_, 9600); std::cout<<"The serial port is "<
5、USB端口号和波特率都能通过launch文件进行配置。
manipulator_serial.launch
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