mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_create_pkg serial_communication roscpp std_msgscd serial_communication/src
touch serial_communication.cpp
gedit serial_communication.cpp 

#include <string>
#include <ros/ros.h> // 包含ROS的头文件
#include <boost/asio.hpp> //包含boost库函数
#include <boost/bind.hpp>
#include "std_msgs/String.h" //ros定义的String数据类型

using namespace std;
using namespace boost::asio; //定义一个命名空间，用于后面的读写操作unsigned char buf[12]; //定义字符串长度int main(int argc, char **argv)
{ros::init(argc, argv, "serial_communication"); //初始化节点ros::NodeHandle n;ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); //定义发布消息的名称及sulvros::Rate loop_rate(10);io_service iosev;serial_port sp(iosev, "/dev/ttyACM0"); //定义传输的串口sp.set_option(serial_port::baud_rate(115200));sp.set_option(serial_port::flow_control());sp.set_option(serial_port::parity());sp.set_option(serial_port::stop_bits());sp.set_option(serial_port::character_size(8));while (ros::ok()){//write(sp, buffer(buf1, 6));  //write the speed for cmd_val//write(sp, buffer("Hellq world", 12));read(sp, buffer(buf));string str(&buf[0], &buf[11]); //将数组转化为字符串//if (buf[10] == '\n'){std_msgs::String msg;std::stringstream ss;ss << str;msg.data = ss.str();ROS_INFO("%s", msg.data.c_str()); //打印接受到的字符串chatter_pub.publish(msg);         //发布消息ros::spinOnce();loop_rate.sleep();}}iosev.run();return 0;
}

add_executable(serial_communication src/serial_communication.cpp)
target_link_libraries(serial_communication ${catkin_LIBRARIES})

cd ~/catkin_ws
catkin_make

roscore

ls -l /dev |grep ttyUSB

rosrun serial_communication serial_communication

sudo chmod 777 /dev/ttyUSB0