ros（ubuntu1804）串口通信_ubuntu18串口通信协议代码

1、安装串口包

sudo apt-get install ros-melodic-serial

2、使用rospy、roscpp、serial这三个包，创建talker功能包

catkin_create_pkg stm32_talker rospy roscpp serial

注意：如果没有工作空间需要先建立工作空间

mkdir -p  ~/catkin_workspace/src

cd  ~/catkin_workspace

catkin_make

source devel/setup.bash  //配置环境变量

echo $ROS_PACKAGE_PATH  //检查环境变量配置

cd  ~/catkin_workplace/src

catkin_create_pkg stm32_talker rospy roscpp serial

catkin_make

 

 

3、创建消息

1）建立消息目录

cd stm32_talker

mkdir msg

2) 建立消息体

echo "uint8 data0" > msg/stm32_message.msg

echo "uint8 data1" >> msg/stm32_message.msg //追加

echo "uint8 data2" >> msg/stm32_message.msg

echo "uint8 data3" >> msg/stm32_message.msg

echo "uint8 data4" >> msg/stm32_message.msg

echo "uint8 data5" >> msg/stm32_message.msg

echo "uint8 data6" >> msg/stm32_message.msg

echo "uint8 data7" >> msg/stm32_message.msg

3）修改包脚本

gedit package.xml

添加：

<build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>
4）修改CMake文件

a、添加message_generation

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  serial
stm32_talker# std_msgs是软件包名称
message_generation
)

b、添加message_runtime（这个若报错则不加）

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES stm32_talker
#  CATKIN_DEPENDS roscpp rospy serial
#  DEPENDS system_lib
 CATKIN_DEPENDS message_runtime
)
c、添加stm32_message（取消注释，更改消息文件名）

 add_message_files(
   FILES
   stm32_message.msg   
 )

d、确保generate_messages被调用（取消注释即可）

 generate_messages(
   DEPENDENCIES
   stm32_talker  # Or other packages containing msgs
 )

5）编译

cd ~/catkin_workplace/

catkin_make