ubuntu下进行串口通信

         1、首先下载串口通信需要的uart文件，用于数据封装json文件。

           下载地址：

           

       http://download.csdn.net/download/m_zhangjingdong/10164628
       http://download.csdn.net/download/m_zhangjingdong/10164611

      2、假设在ros环境下操作，并且已经安装ros wiki上的说明创建了 beginner_tutorials包

        a、将cJSON.h、uart.h文件拷贝到beginner_tutorials包内的include文件夹内

        b、将cJSON.c、uart.c文件拷贝到beginner_tutorials包内的src文件夹内

        c、修改beginner_tutorials目录下的CMakeList.txt内容，修改后如下：（倒数第二段的talker部分是当初测试用的，可以不加）

        

    cmake_minimum_required(VERSION 2.8.3)  
    project(beginner_tutorials)  
  
    ## Find catkin and any catkin packages  
    find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)  
  
    ## Declare ROS messages and services  
    #add_message_files(FILES Num.msg)  
    #add_service_files(FILES AddTwoInts.srv)  
  
    ## Generate added messages and services  
    #generate_messages(DEPENDENCIES std_msgs)  
  
    ## Declare a catkin package  
    catkin_package()  
  
  
    ## Build talker and listener  
    include_directories(include)  
  
  
    AUX_SOURCE_DIRECTORY(src DIR_SRCS)  
    #set environment variable  
    SET(TEST_MATH  
    ${DIR_SRCS}  
    )  
  
    add_executable(talker src/talker.cpp)  
    target_link_libraries(talker ${catkin_LIBRARIES})  
    add_dependencies(talker beginner_tutorials_generate_messages_cpp)  
  
    add_executable(listener src/listener.cpp src/c