ROS利用ros-kinetic-serial包与下位机串口通信

一、使用ros-kinetic-serial包，首先安装这个package

注意，需将kinetic替换为你的ROS版本

sudo apt install ros-kinetic-serial

二、连接设备并查看串口名

关于linux串口的操作看这里 Ubuntu关于串口的操作(查看串口信息、串口助手、串口权限)

三、在package中包编写代码

1. 在工作空间中创建你自己的package

创建包具体看这里:
ROS创建工作空间添加包并编译

2. 代码如下

#include <ros/ros.h>
#include <serial/serial.h>
#include <iostream>
using namespace std;

int serial_write(serial::Serial &ser, std::string &serial_msg)
{
   
    ser.write(serial_msg);
    return 0;
}

int serial_read(serial::Serial &ser, std::string &result)
{
   
    result = ser.read(ser.available());
    return 0;
}

int main(int argc, char **argv)
{
   
    ros::init(argc, argv, "baseRun");
    ros::NodeHandle nh;
    ros::Rate loop_rate(100);
    serial::Serial ser;

    try
    {
   
        ser.setPort("/dev/ttyUSB0");
        ser.setBaudrate(115200);
        serial::Timeout to = serial::Timeout::simpleTimeout(1000);
        ser.setTimeout(to);
        ser.open();
    }
    catch (serial::IOException &e)
    {
   
        ROS_ERROR_STREAM("Unable to open port ");
        return -1;
    }

    if (ser.isOpen())
    {
   
        ROS_INFO_STREAM("Serial Port initialized.\n");
    }
    else
    {
   
        return -1;
    }
    //data 为发送数据
    //result 为接收数据
    std::string data, state, result;
    int func(0);
 /*****************************************************************************
 * 以下逻辑可以按照你自己的写，主要工作是为 data 赋值
 *****************************************************************************/
    cout << "Please input function number:" << endl;
    cout << "0:制动  1:前进  2:后退  3:向左平移  4:向右平移  5:左转  6:右转" << endl << endl;
    while (ros::ok())
    {
   
        cout << "Your function number is: ";
        cin >> func;
        switch (func)
        {
   
        case 0: //制动
            data = "$,4,0,500,44,#\r\n";
            state = "制动";
            break;
        case 1: //前进
            data = "$,4,1,500,44,#\r\n";
            state = "前进";
            break;
        case 2: //后退
            data = "$,4,2,500,44,#\r\n";
            state = "后退";
            break;
        case 3: //向左平移
            data = "$,4,3,500,44,#\r\n";
            state = "向左平移";
            break;
        case 4: //向右平移
            data = "$,4,4,500,44,#\r\n";
            state = "向右平移";
            break;
        case 5: //左转
            data = "$,4,5,500,44,#\r\n";
            state = "左转";
            break;
        case 6: //右转
            data = "$,4,6,500,44,#\r\n";
            state = "右转";
            break;
        default:
            ROS_ERROR_STREAM("No this function number!!!");
            break;
        }
   /*****************************************************************************/
        //串口写数据
        serial_write(ser, data);
        cout << " the data write to serial is :  " << data.c_str();
        //串口读数据
        serial_read(ser, result);
        cout << " the data read from serial is : " << result.c_str();
        cout << " the state of robot is : " << state.c_str() << endl << endl;
    }

    ser.close();
    return 0;
}

CMakeLists.txt 文件配置内容：

cmake_minimum_required(VERSION 3.0.2)
project(serial_port)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  serial
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
    # INCLUDE_DIRS include
    # LIBRARIES serial_port
    # CATKIN_DEPENDS roscpp rospy serial std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
      # include
      ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/serial_port.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(serial_port ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(serial_port src/serial_port.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(serial_port 
    {
   mathJaxContainer[1]}{
   PROJECT_NAME}_EXPORTED_TARGETS} 
    ${catkin_EXPORTED_TARGETS}
)

## Specify libraries to link a library or executable target against
target_link_libraries(serial_port
      ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_serial_port.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)