ROS 进阶学习笔记（12） - Communication with ROS through USART Serial Port

Communication with ROS through USART Serial Port

We always need to communicate with ROS through serial port as we have many devices like sensors, touch-screen, actuators to be controlled through USART serial protocol.

After some investigation, I found several ways that can make ROS work with the serial-port-devices:

• Use the package: rosserial. It seems like only the "connected rosserial-enabled device" can work upon that, including Aduino, Windows, XBee, etc.(ROS community said: rosserial is used with mcus that have rosserial code running on them.)
  
• Use the driver package: serial. It seems like a serial port driver for ROS programming. This should be the most free way but I didn't find out how to use it.
• Use the package: cereal_port, a serial port library for ROS, you can find it in theserial_communication stack, it's easy to use.
• The package: rosbridgemay also suit your needs (full disclosure, author of rosbridge here). Check outthis video of using rosbridge with an Arduino (though the principles apply to any uController).
  
• A simple approach is to write a ROS node that can read/write text messages exchanged with the microcontroller over a serial port and convert these serial messages to ROS style std_msgs/String messages.Here we are going to share this way first.
  
• Kevin: a service given by Kevin. It seems to work pretty good. This works well cuz a lot of our serial stuff is sending a message and receiving a response back, instead of separate publish/subscribes.reference web
  
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A simple approach is to write a ROS node that can read/write text messages exchanged with the microcontroller over a serial port and convert these serial messages to ROS style std_msgs/String messages. Here we are going to share this way first. ref:reference web 

In that page, Bart says:
"A simple approach is to write a ROS node that can read/write text messages exchanged with the microcontroller over a serial port and convert these serial messages to ROS style std_msgs/String messages. A separate ROS node can then be written to convert the simple text messages to specific ROS message formats (c