ros2中创建工程，访问serial串口

1、创建一个ros2工程包

ros2 pkg create --build-type ament_cmake ros2_demo --dependencies rclcpp std_msgs

2、在工程ros2_demo中创建include文件夹，在该文件内创建serial_test.h头文件

#include <serial/serial.h>
#include "rclcpp/rclcpp.hpp"

// originbot protocol data format
typedef struct {
    uint8_t header;
    uint8_t id;
    uint8_t length;
    uint8_t data[6];
    uint8_t check;
    uint8_t tail;
} DataFrame;


class SerialTest: public rclcpp::Node
{
private:
    serial::Serial serial_;
public:
    SerialTest(std::string nodeName);
    ~SerialTest();
    bool buzzer_control(bool on);
};

3、在工程包中的src目录下创建serial_test.cpp文件（node节点）

#include "ros2_demo/serial_test.h"


SerialTest::SerialTest(std::string nodeName):Node(nodeName)
{   
    std::string port_name="ttyUSB0";    
     // 控制器与扩展驱动板卡的串口配置与通信
    try
    {
        serial_.setPort("/dev/" + port_name);                            //选择要开启的串口号
        serial_.setBaudrate(115200);                                     //设置波特率
        serial::Timeout timeOut = serial::Timeout::simpleTimeout(2000);  //超时等待
        serial_.setTimeout(timeOut);                                     
        serial_.open();                                                  //开启串口
    }
    catch (serial::IOException &e)
    {
        RCLCPP_ERROR(this->get_logger(), "originbot can not open serial port,Please check the serial port cable! "); //如果开启串口失败，打印错误信息
    }
    // 初始化完成，蜂鸣器响5s，并输出日志
    buzzer_control(true);
    sleep(5);
    buzzer_control(false);

    RCLCPP_INFO(this->get_logger(), "OriginBot Start, enjoy it.");
}
SerialTest::~SerialTest()
{
    serial_.close();                                                  //关闭串口
}

bool SerialTest::buzzer_control(bool on)
{   

    RCLCPP_INFO(this->get_logger(), "in buzzer_control methos,buzzer is on");
    DataFrame configFrame;

    // 封装蜂鸣器指令的数据帧
    configFrame.header = 0x55;
    configFrame.id     = 0x07;
    configFrame.length = 0x06;
    configFrame.data[0]= 0x00;
    configFrame.data[1]= 0x00;
    configFrame.data[2]= 0xFF;

    if(on)
        configFrame.data[3]= 0xFF;
    else
        configFrame.data[3]= 0x00;

    configFrame.data[4]= 0x00;
    configFrame.data[5]= 0x00;
    configFrame.check = (configFrame.data[0] + configFrame.data[1] + configFrame.data[2] + 
                         configFrame.data[3] + configFrame.data[4] + configFrame.data[5]) & 0xff;
    configFrame.tail   = 0xbb; 

    try
    {
        serial_.write(&configFrame.header, sizeof(configFrame)); //向串口发数据
    }  

    catch (serial::IOException &e)
    {
        RCLCPP_ERROR(this->get_logger(), "Unable to send data through serial port"); //如果发送数据失败,打印错误信息
    }

    return true;
}

int main(int argc, char const *argv[])
{
    /* code */
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<SerialTest>("first_test_serial"));
    rclcpp::shutdown();
    return 0;
}

4、修改CMakeLists.txt，添加serial依赖。完整的CMakeLists.txt文件如下

cmake_minimum_required(VERSION 3.8)
project(ros2_demo)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(serial REQUIRED)

include_directories(
  include
  )


add_executable(serialtest src/serial_test.cpp)
target_link_libraries(serialtest serial)
ament_target_dependencies(serialtest rclcpp std_msgs serial)

#DIRECTORY：将指定目录中的文件和子目录复制到安装目录。
install(DIRECTORY include/ 
  DESTINATION include )

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME} 
)

#TARGETS：安装指定的目标（可执行文件、库文件等）
install(TARGETS serialtest 
  DESTINATION lib/${PROJECT_NAME}) 

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_package()

5、编译ros源码

colcon build --packages-select ros2_demo
source install/setup.bash   

6、运行

ros2 run ros2_demo serialtest

注意：直接运行该serialtest可执行文件，会报找不到libserial.so动态库。需要把build目录下的serialtest可执行文件复制到install/ros2_demo/lib/ros2_demo/目录下的替换该可执行文件。（因为发现build目录下的可执行文件可以正常链接到动态库。而intall下可执行文件没能正常链接，暂时不知道什么原因，待解决。）