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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;elseconfigFrame.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 launchDESTINATION 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 filesset(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 filesset(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。）
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