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:https://www.it610.com/article/1279946651775025152.htm
ROS下树莓派USB串口通信
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 7
unsigned 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 7
unsigned 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