ros与stm32串口实现

#include <ros/ros.h>

#include <serial/serial.h> //ROS已经内置了的串口包

#include <std_msgs/String.h>

#include <std_msgs/Empty.h>

#include "uart/uartmsg.h"


serial::Serial ser; //声明串口对象

//回调函数

void write_callback(const std_msgs::String::ConstPtr &msg)

{

ROS_INFO("write the data:%s",msg->data.c_str());

ser.write(msg->data); //发送串口数据

}

int main (int argc, char** argv)

{

//初始化节点 <<

ros::init(argc, argv, "serial_example_node");

//声明节点句柄

ros::NodeHandle nh;

//订阅主题，并配置回调函数

ros::Subscriber write_sub = nh.subscribe("write", 1000, write_callback);

//发布主题

ros::Publisher read_pub = nh.advertise<std_msgs::String>("read", 1000);

try

{

//设置串口属性，并打开串口

ser.setPort("/dev/ttyUSB0");

ser.setBaudrate(9600);

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;

}

//检测串口是否已经打开，并给出提示信息

if(ser.isOpen())

{

ROS_INFO_STREAM("Serial Port initialized");

}
else

{

return -1;

}

//指定循环的频率

ros::Rate loop_rate(1);

while(ros::ok())

{

if(ser.available()){

ROS_INFO_STREAM("Reading from serial port\n");

std_msgs::String result;

result.data = ser.read(ser.available());

ROS_INFO("Read: %s",result.data.c_str());

read_pub.publish(result);

}



//处理ROS的信息，比如订阅消息,并调用回调函数

ros::spinOnce();

loop_rate.sleep();
}
}

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <std_msgs/Empty.h> 
#include "uart/uartmsg.h"
#include <sstream>
int main(int argc, char** argv)
{
    ros::init(argc, argv, "talker");
    ros::NodeHandle nh;
    std_msgs::String msg;
    std::stringstream ss;
    ss << "1\r\n";
    msg.data = ss.str();

    ros::Publisher pub=nh.advertise<std_msgs::String>("write",1000);

    ros::Rate loop_rate(1.0);

    while (ros::ok())
    {
        msg.data = ss.str();
        pub.publish(msg);
        ROS_INFO("Talker:  %s",msg.data.c_str());
        loop_rate.sleep();
    }
    

    return 0;
}