9.ROS串口实例

#include <iostream>
#include <ros/ros.h>
#include <serial/serial.h>
#include<geometry_msgs/Twist.h>
using namespace std;

//运行打开速度控制插件：  rosrun rqt_robot_steering rqt_robot_steering
//若串口访问权限不够：    sudo chmod 777 /dev/ttyTHS1

//发送和接受数组
uint8_t  senddata[5] = {0x01, 0x02, 0x03, 0x04,0x05};
uint8_t  recdata[100] = {0};

//回调函数
void rc_cmdvel_callback(geometry_msgs::Twist vel_msg)
{
    ROS_INFO("lx:%.2f",vel_msg.linear.x);//相当于带时间戳的print
    ROS_INFO("ly:%.2f",vel_msg.linear.y);
    ROS_INFO("lz:%.2f",vel_msg.linear.z);
    ROS_INFO("ax:%.2f",vel_msg.angular.x);
    ROS_INFO("ay:%.2f",vel_msg.angular.y);
    ROS_INFO("az:%.2f",vel_msg.angular.z);
    ROS_INFO("\n");
}

int main(int argc,  char** argv) {
   
    ros::init(argc,argv,"serial_node");//初始化ROS节点
    //*********************************话题订阅配置*************************************
    ros::NodeHandle nh;
    //
	ros::Subscriber sub=nh.subscribe("/cmd_vel",5,rc_cmdvel_callback);//订阅者1       >订阅abc_test话题      缓冲区长度5   回调函数为rc_callback1
    //ros::Subscriber sub2=nh.subscribe("s2_test",5,rc_callback2); //订阅者2    订阅abc2_test话题



//*****************************************串口配置***********************************
    serial::Serial sp;//定义串口对象
    try{
            sp.setPort("/dev/ttyTHS1");//设置串口名称
            sp.setBaudrate(9600);//波特率
            sp.setBytesize(serial::bytesize_t::eightbits);//数据位--8位
            sp.setParity(serial::parity_t::parity_none);//校验位--无
            sp.setStopbits(serial::stopbits_t::stopbits_one);//停止位--1位
            sp.setFlowcontrol(serial::flowcontrol_t::flowcontrol_none);//无串口流控
            
            serial::Timeout to=serial::Timeout::simpleTimeout(1000);
            sp.setTimeout(to);//设置Timeout

            sp.open();//打开串口
    }
    catch(serial::IOException& e){
            ROS_ERROR_STREAM("Unable to open port.");
            return -1;
    }

    if(sp.isOpen())//判断串口是否打开
    {
        ROS_INFO_STREAM("Com is initialized");
    }
    else
    {
        ROS_ERROR_STREAM("Unable to open port.");
        return -1;
    }
    //******************************************************************************************

    ros::Rate loop_rate(1);
    while(ros::ok()){
        //******************************************串口相关********************************************
    	//发送数据
    	sp.write(senddata,5);//将u8类型的数组的前x个数据写入缓冲区
        //获取缓存区数据

        size_t sn=sp.available();//获取缓冲区字节数
        if(sbrk != 0)//如果缓冲区有字节
        {
            sn = sp.read(recdata, sn);//从缓冲区读n个字节到u8数组中
            for(int i = 0; i < sn; i++)
            {
            //16进制显示接受到的数据
                //cout << std::hex << (recdata[i] & 0xff) << " ";
                 ROS_INFO("%d",recdata[i] & 0xff );
            }
            
        }
        //*******************************************ROS话题相关*************************************


        ros::spinOnce();//监听消息包
		//	以1HZ的频率
        loop_rate.sleep();
    }
    sp.close();
    return 0;
}

cmakelist：

cmake_minimum_required(VERSION 3.0.2)
project(myserial)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  serial
  geometry_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES myserial
#  CATKIN_DEPENDS roscpp rospy rosserial std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/myserial.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/myserial_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_myserial.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
add_executable(serial_node src/ser.cpp)
 
target_link_libraries(serial_node
  ${catkin_LIBRARIES}
)

常用API说明：