ROS下使用串口发送数据
#include <stdio.h>
#include <string.h>
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <ros/package.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Odometry.h>
#include <serial/serial.h>
#include <std_msgs/String.h>
#include <std_msgs/Empty.h>
#include <fstream>
#include <iostream>
using namespace std;
serial::Serial ser;
ros::Subscriber serial_sub;
ros::Publisher read_pub;
typedef union{
unsigned char cvalue[4];
float fvalue;
}float_union;
static uint8_t s_buffer[11];
void serial_sub_callback(