C + + Boost serial application for Ros and slave communication

First, migrate the C + + Boost Library:

1. First go to the Boost website to download the latest boost version, I downloaded the boost_1_6_0 version, unzip.

2. Go to the Unzip directory: CD Boost_1_6_0, execute the following command:

$./bootstrap.sh--prefix=path/to/installation/prefix

The value of prefix is the path where you want to install boost, and the default is to install it under/usr/local if you do not turn on this parameter. I am installing in the/home/xzz/boost_1_56_0 directory:

$./bootstrap.sh--prefix=/home/cam/boost_1_6_0

Note: home directory do not use ~ to indicate that the compilation script does not recognize ~, will be currently a new directory named ' ~ '.

Then execute:

$./B2 Install

This command installs the Boost header file folder include/in the prefix defined directory, compiles all the boost modules, and places the compiled Library folder lib/in the prefix defined directory. All if compiled successfully, the prefix directory, the/HOME/XZZ/BOOST_1_56_0 directory, should contain include/and lib/two folders.

3. Test, in the src/directory of any feature pack in your Ros workspace, create the Boost_bode.cpp file with the following contents:

First, test the function module that relies only on the header file:

ASIO not only supports network communication, but also supports serial communication. For two devices to use serial communication, the key is to set the correct parameters, such as: baud rate, parity bit, stop bit, character size and flow control. Two serial devices only the same parameters are set to talk to each other.

ASIO provides the Boost::asio::serial_port class, which has a set_option (const settableserialportoption& option) method that is used to set the parameters enumerated above, The option can be:

• Serial_port::baud_rate baud rate, construction parameter is unsigned int
• Serial_port::p arity parity, construction parameter is serial_port::p arity::type,enum type, can be none, odd, even.
• Serial_port::flow_control flow control, construction parameter is Serial_port::flow_control::type,enum type, can be none software hardware
• Serial_port::stop_bits stop bit, construction parameter is Serial_port::stop_bits::type,enum type, can be one onepointfive two
• serial_port::character_size character size, construction parameter is unsigned in

#include <iostream> #include <boost/asio.hpp> #include <boost/bind.hpp>using namespace std;using namespace Boost::asio;int Main (int argc, char* argv[]) {        io_service Iosev;        Node file        serial_port sp (Iosev, "/dev/ttyusb0");        Set the parameter        sp.set_option (Serial_port::baud_rate (115200));        Sp.set_option (Serial_port::flow_control (Serial_port::flow_control::none));        Sp.set_option (serial_port::p arity (serial_port::p arity::none));        Sp.set_option (Serial_port::stop_bits (Serial_port::stop_bits::one));        Sp.set_option (Serial_port::character_size (8));        Writes data to the serial port write        (sp, buffer ("Hello world");        Read data to the serial port        Char buf[1];        Read (SP, buffer (BUF)); printf ("buf[0] =%c\n", buf[0]);        Iosev.run ();        return 0;}

Add compilation options: Add the CMakeLists.txt file in your Feature pack:

Add_executable (Boost_node src/boost_node.cpp)
Target_link_libraries (Boost_node ${catkin_libraries})

Compile the Boost test program: In the top-level directory of your work space

Catkin_make

Terminate called after throwing an instance of ' Boost::exception_detail::clone_impl<boost::exception_detail::error _info_injector<boost::system::system_error> > '
What (): Open:permission denied
Aborted (core dumped)
Seems to be insufficient authority.

Connect your electricity and another computer through the serial port. Operations Root User Run

[Email protected]:/home/cam/catkin_ws/devel/lib/odom_tf_package#./boost_node buf[0] = 0

C + + Boost serial application for Ros and slave communication