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