ROS serial port programming

方法1：avr_bridge     http://wiki.ros.org/avr_bridge

AVR _BRIDGE IS DEPRECIATED . DO NOT USE IN A NEW PROJECT. USE ROSSERIAL INSTEAD.

方法2：cereal_port.  仅支持到e和f版本  http://wiki.ros.org/cereal_port。groovy和hydro及后面版本未见支持。

类定义：http://isr-uc-ros-pkg.googlecode.com/svn/stacks/serial_communication/trunk/cereal_port/include/cereal_port/CerealPort.h

Simple C++ serial port class for ROS.

• Author: Gonçalo Cabrita and Pedro Sousa
• License: BSD
• Source: svn http://isr-uc-ros-pkg.googlecode.com/svn/stacks/serial_communication/trunk

相关问题及解决方法：

A. Undefined Reference using Cereal_Port, -l doesn't fix

http://answers.ros.org/question/101756/undefined-reference-using-cereal_port-l-doesnt-fix/

B.

how to use cereal_port in ros

http://answers.ros.org/question/52427/how-to-use-cereal_port-in-ros/

方法3：rosserial   http://wiki.ros.org/rosserial

推荐使用。所有版本都支持。

其他问题：

a.How can ROS communicate with my microcontroller?

http://answers.ros.org/question/10114/how-can-ros-communicate-with-my-microcontroller/

b. http://answers.ros.org/question/38088/how-do-i-create-a-ros-topic-publishersubscriber/

http://answers.ros.org/question/38088/how-do-i-create-a-ros-topic-publishersubscriber/