#include <string>
#include // 包含ROS的头文件
#include
#include
#include
#include //包含boost库函数
#include
#include
#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[24]; //定义字符串长度
int main(int argc, char** argv) {
ros::init(argc, argv, "boost"); //初始化节点
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise("chatter", 1000); //定义发布消息的名称及sulv
ros::Rate loop_rate(10);
io_service iosev;
serial_port sp(iosev, "/dev/ttyUSB0"); //定义传输的串口
sp.set_option(serial_port::baud_rate(9600));
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("Hello world", 12));
read (sp,buffer(buf));
string str(&buf[0],&buf[22]); //将数组转化为字符串
//if(buf[0]=='p' && buf[21] == 'a')
// {
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;
}