ROS下使用libmodbus记录

1. Ubuntu下的 libmodbus安装

环境：Ubuntu16.04LTS
安装版本：v3.1.6
可以在官方下载地址下载最新的版本v3.16,然后将libmodbus-3.1.6.tar.gz提取放到想要放到的文件夹里面，比如/home里面，然后安装依赖。

	sudo apt-get install autoconf
	sudo apt-get install automake
	sudo apt-get install libtool

建议在执行编译指令以前，将autogen.sh、unit-tests.sh赋给可执行权限，简单的方法就是选中右键点属性，在权限那里点上允许作为程序执行文件，防止因为权限问题出错。

下一步进入文件夹打开终端，运行以下指令：

	sudo ./autogen.sh
	sudo ./configure
	sudo make install

结果：

Libraries have been installed in:
   /usr/local/lib

If you ever happen to want to link against installed libraries
in a given directory, LIBDIR, you must either use libtool, and
specify the full pathname of the library, or use the '-LLIBDIR'
flag during linking and do at least one of the following:
   - add LIBDIR to the 'LD_LIBRARY_PATH' environment variable
     during execution
   - add LIBDIR to the 'LD_RUN_PATH' environment variable
     during linking
   - use the '-Wl,-rpath -Wl,LIBDIR' linker flag
   - have your system administrator add LIBDIR to '/etc/ld.so.conf'

See any operating system documentation about shared libraries for
more information, such as the ld(1) and ld.so(8) manual pages.
----------------------------------------------------------------------

可以用以下指令来检测是否安装成功：

	sudo make check

结果：

============================================================================
Testsuite summary for libmodbus 3.1.6
============================================================================
# TOTAL: 1
# PASS:  1
# SKIP:  0
# XFAIL: 0
# FAIL:  0
# XPASS: 0
# ERROR: 0
============================================================================

如此安装就已经完成了。
可以使用如下指令来查看是否可以使用

	pkg-config --cflags libmodbus
	pkg-config --libs libmodbus

下一步就是在ROS使用libmodbus进行通讯。