[{"data":1,"prerenderedAt":5198},["ShallowReactive",2],{"wiki-page-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver":3,"wiki-doc-items-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver":4888,"language-switcher-data-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver":5182,"wiki-i18n-paths-\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver":5197},{"id":4,"title":5,"body":6,"canonicalPath":4870,"chapterDepth":229,"chapterOrder":4871,"date":4872,"description":188,"docI18nKey":4873,"docKey":4874,"docRoot":4875,"docTitle":4876,"extension":4877,"i18nKey":4878,"isBlogPost":4879,"isWikiDoc":254,"isWikiIndex":4879,"layout":4880,"legacyPath":4880,"locale":4881,"localeSlug":4882,"meta":4883,"navigation":254,"path":4870,"seo":4884,"sourcePath":4885,"sourceStem":4878,"stem":4886,"wikiDepth":195,"__hash__":4887},"content\u002F_i18n\u002Fen-us\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2_serial_driver.md","ROS2 Serial Driver Library",{"type":7,"value":8,"toc":4866},"minimark",[9,14,18,26,30,33,36,39,45,51,54,59,62,74,88,101,125,131,135,138,141,144,147,151,157,175,182,317,323,326,331,341,347,363,368,377,393,398,404,455,458,462,467,484,489,527,534,538,544,584,595,601,606,611,616,623,626,633,640,645,650,672,676,679,682,687,694,697,700,703,706,709,715,720,723,727,732,739,742,752,757,762,772,777,1877,1882,1887,1891,1895,2793,2798,2802,3658,3663,3667,4833,4838,4846,4850,4862],[10,11,13],"h3",{"id":12},"ros1-serial-library-11","ROS1 Serial Library 1.1",[15,16,17],"p",{},"This is a ROS1 library, but it can also be compiled from third-party source code for use with ROS2.",[15,19,20],{},[21,22,23],"a",{"href":23,"rel":24},"http:\u002F\u002Fwjwwood.io\u002Fserial\u002Fdoc\u002F1.1.0\u002Findex.html",[25],"nofollow",[10,27,29],{"id":28},"ros2-serial-library-12","ROS2 Serial Library 1.2",[15,31,32],{},"As the name suggests, it is a serial port packet.",[15,34,35],{},"This library is compatible with ROS Humble and ROS Jazzy versions.",[15,37,38],{},"Official Detailed Explanation:",[15,40,41],{},[21,42,43],{"href":43,"rel":44},"https:\u002F\u002Fdocs.ros.org\u002Fen\u002Fhumble\u002Fp\u002Fserial_driver\u002Fgenerated\u002Findex.html#",[25],[15,46,47],{},[21,48,49],{"href":49,"rel":50},"https:\u002F\u002Findex.ros.org\u002Fp\u002Fserial_driver\u002F",[25],[15,52,53],{},"Below is a tutorial handcrafted based on the official documentation (as of the time this tutorial was created, there wasn't a single decent tutorial available yet).",[55,56,58],"h4",{"id":57},"the-serialdriver-library-features","The SerialDriver library features",[15,60,61],{},"This library is primarily based on the Boost.Asio library, so the underlying principle is the characteristic of Boost.Asio:",[15,63,64,68,69,73],{},[65,66,67],"strong",{},"Event-driven"," Boost.Asio uses the underlying I\u002FO multiplexing mechanisms provided by the operating system (such as Linux's ",[70,71,72],"code",{},"epoll",", Windows' I\u002FO Completion Ports) to monitor file descriptors (e.g., serial ports, sockets) for available data. When data arrives, the corresponding event is triggered.",[15,75,76,79,80,83,84,87],{},[65,77,78],{},"Callback Mechanism"," When a user calls an asynchronous method (such as ",[70,81,82],{},"async_read"," or ",[70,85,86],{},"async_receive","), a callback function is passed in. When the specified event (such as data reception completion) occurs, Boost.Asio automatically invokes the user-provided callback function.",[15,89,90,93,94,83,97,100],{},[65,91,92],{},"I\u002FO Service Object"," The core of Boost.Asio is an ",[70,95,96],{},"io_service",[70,98,99],{},"io_context"," object that manages all asynchronous operations and the scheduling of callbacks. When receiving asynchronously:",[102,103,104,114,119],"ul",{},[105,106,107,108,110,111,113],"li",{},"The user registers operations (such as ",[70,109,86],{},") into ",[70,112,99],{},".",[105,115,116,118],{},[70,117,99],{}," suspends the asynchronous operation and waits for an I\u002FO event to trigger.",[105,120,121,122,124],{},"When an I\u002FO event is triggered, ",[70,123,99],{}," calls the corresponding callback function.",[15,126,127,130],{},[65,128,129],{},"Does not block the main thread"," Asynchronous operations do not block the calling thread. The main thread can continue executing other tasks while the asynchronous operation completes in the background.",[55,132,134],{"id":133},"based-on-the-advantages-of-the-boostasio-library","Based on the advantages of the Boost.Asio library",[15,136,137],{},"The Boost.Asio library triggers events through system I\u002FO and spawns a separate thread to handle this task. As a result, the Boost library combines the characteristics of a microcontroller's serial port interrupt with the features of true multithreading.",[15,139,140],{},"However, although the serial port interrupt of a microcontroller can also trigger events through I\u002FO, since the microcontroller has only one real thread, entering an interrupt will inevitably block the main thread, resulting in a loss of efficiency.",[15,142,143],{},"If you directly receive data in the main thread and add an infinite loop with delays, this approach is often the least efficient and carries significant security risks. It is strongly not recommended.",[15,145,146],{},"Efficiency: Boost.Asio reception >> Microcontroller serial interrupt >> Multithreaded blocking reception >> Single-threaded blocking reception (when transmission speed is very fast, all are far greater than >>)",[55,148,150],{"id":149},"install-the-ros2-serial-package","Install the ROS2 serial package",[15,152,153,156],{},[65,154,155],{},"serial_driver"," is a library encapsulating serial communication functionality, consisting of two parts:",[102,158,159,169],{},[105,160,161,164,165,168],{},[65,162,163],{},"ROS2 Dependency Version",": Used in the ROS2 environment, it relies on ROS2 communication mechanisms (such as ",[70,166,167],{},"rclcpp",").",[105,170,171,174],{},[65,172,173],{},"Standalone Library Version",": Does not depend on ROS2 and can be used directly in a regular C++ project. (Untested)",[176,177,179],"h5",{"id":178},"method-1-install-in-ros2",[65,180,181],{},"Method 1: Install in ROS2",[183,184,189],"pre",{"className":185,"code":186,"language":187,"meta":188,"style":188},"language-bash shiki shiki-themes github-light github-dark","sudo apt install ros-\u003Cros2-distro>-asio-cmake-module\nsudo apt install ros-\u003Cros2-distro>-serial-driver\n\n#humble\nsudo apt install ros-humble-asio-cmake-module\nsudo apt install ros-humble-serial-driver\n#jazzy\nsudo apt install ros-jazzy-asio-cmake-module\nsudo apt install ros-jazzy-serial-driver\n","bash","",[70,190,191,227,249,256,263,275,287,293,305],{"__ignoreMap":188},[192,193,196,200,204,207,210,214,217,221,224],"span",{"class":194,"line":195},"line",1,[192,197,199],{"class":198},"sScJk","sudo",[192,201,203],{"class":202},"sZZnC"," apt",[192,205,206],{"class":202}," install",[192,208,209],{"class":202}," ros-",[192,211,213],{"class":212},"szBVR","\u003C",[192,215,216],{"class":202},"ros2-distr",[192,218,220],{"class":219},"sVt8B","o",[192,222,223],{"class":212},">",[192,225,226],{"class":202},"-asio-cmake-module\n",[192,228,230,232,234,236,238,240,242,244,246],{"class":194,"line":229},2,[192,231,199],{"class":198},[192,233,203],{"class":202},[192,235,206],{"class":202},[192,237,209],{"class":202},[192,239,213],{"class":212},[192,241,216],{"class":202},[192,243,220],{"class":219},[192,245,223],{"class":212},[192,247,248],{"class":202},"-serial-driver\n",[192,250,252],{"class":194,"line":251},3,[192,253,255],{"emptyLinePlaceholder":254},true,"\n",[192,257,259],{"class":194,"line":258},4,[192,260,262],{"class":261},"sJ8bj","#humble\n",[192,264,266,268,270,272],{"class":194,"line":265},5,[192,267,199],{"class":198},[192,269,203],{"class":202},[192,271,206],{"class":202},[192,273,274],{"class":202}," ros-humble-asio-cmake-module\n",[192,276,278,280,282,284],{"class":194,"line":277},6,[192,279,199],{"class":198},[192,281,203],{"class":202},[192,283,206],{"class":202},[192,285,286],{"class":202}," ros-humble-serial-driver\n",[192,288,290],{"class":194,"line":289},7,[192,291,292],{"class":261},"#jazzy\n",[192,294,296,298,300,302],{"class":194,"line":295},8,[192,297,199],{"class":198},[192,299,203],{"class":202},[192,301,206],{"class":202},[192,303,304],{"class":202}," ros-jazzy-asio-cmake-module\n",[192,306,308,310,312,314],{"class":194,"line":307},9,[192,309,199],{"class":198},[192,311,203],{"class":202},[192,313,206],{"class":202},[192,315,316],{"class":202}," ros-jazzy-serial-driver\n",[176,318,320],{"id":319},"method-2-general-this-method-has-not-been-tested-if-you-test-it-please-help-delete-this-sentence",[65,321,322],{},"Method 2: General (This method has not been tested. If you test it, please help delete this sentence.)",[15,324,325],{},"If you are using ROS1 or another environment and have not installed ROS2, please choose this method.",[15,327,328],{},[65,329,330],{},"Clone the repository",[15,332,333,334,337,338,340],{},"First, clone the ",[65,335,336],{},"transport_drivers"," repository (including ",[70,339,155],{},"):",[15,342,343],{},[21,344,345],{"href":345,"rel":346},"https:\u002F\u002Fgithub.com\u002Fros-drivers\u002Ftransport_drivers",[25],[183,348,350],{"className":185,"code":349,"language":187,"meta":188,"style":188},"git clone https:\u002F\u002Fgithub.com\u002Fros-drivers\u002Ftransport_drivers.git\n",[70,351,352],{"__ignoreMap":188},[192,353,354,357,360],{"class":194,"line":195},[192,355,356],{"class":198},"git",[192,358,359],{"class":202}," clone",[192,361,362],{"class":202}," https:\u002F\u002Fgithub.com\u002Fros-drivers\u002Ftransport_drivers.git\n",[15,364,365],{},[65,366,367],{},"Install Dependencies",[15,369,370,372,373,376],{},[70,371,155],{}," depends on the ",[65,374,375],{},"ASIO"," library (a cross-platform C++ network programming library). Make sure ASIO is installed on your system:",[183,378,380],{"className":185,"code":379,"language":187,"meta":188,"style":188},"sudo apt install libasio-dev\n",[70,381,382],{"__ignoreMap":188},[192,383,384,386,388,390],{"class":194,"line":195},[192,385,199],{"class":198},[192,387,203],{"class":202},[192,389,206],{"class":202},[192,391,392],{"class":202}," libasio-dev\n",[15,394,395],{},[65,396,397],{},"Compiling a Standalone Library",[15,399,400,401,403],{},"Enter the ",[70,402,155],{}," directory and compile:",[183,405,407],{"className":185,"code":406,"language":187,"meta":188,"style":188},"cd transport_drivers\u002Fserial_driver\nmkdir build\ncd build\ncmake ..\nmake\nsudo make install\n",[70,408,409,418,426,432,440,445],{"__ignoreMap":188},[192,410,411,415],{"class":194,"line":195},[192,412,414],{"class":413},"sj4cs","cd",[192,416,417],{"class":202}," transport_drivers\u002Fserial_driver\n",[192,419,420,423],{"class":194,"line":229},[192,421,422],{"class":198},"mkdir",[192,424,425],{"class":202}," build\n",[192,427,428,430],{"class":194,"line":251},[192,429,414],{"class":413},[192,431,425],{"class":202},[192,433,434,437],{"class":194,"line":258},[192,435,436],{"class":198},"cmake",[192,438,439],{"class":202}," ..\n",[192,441,442],{"class":194,"line":265},[192,443,444],{"class":198},"make\n",[192,446,447,449,452],{"class":194,"line":277},[192,448,199],{"class":198},[192,450,451],{"class":202}," make",[192,453,454],{"class":202}," install\n",[15,456,457],{},"Once installed, simply add the package normally in CMake.",[176,459,461],{"id":460},"other-preparatory-work","Other preparatory work",[15,463,464],{},[65,465,466],{},"Serial Debug Assistant Installation (Linux Version) (If you need the Windows version, ask the control group)",[183,468,470],{"className":185,"code":469,"language":187,"meta":188,"style":188},"sudo apt-get install cutecom\n",[70,471,472],{"__ignoreMap":188},[192,473,474,476,479,481],{"class":194,"line":195},[192,475,199],{"class":198},[192,477,478],{"class":202}," apt-get",[192,480,206],{"class":202},[192,482,483],{"class":202}," cutecom\n",[15,485,486],{},[65,487,488],{},"Permissions",[183,490,492],{"className":185,"code":491,"language":187,"meta":188,"style":188},"\n# 将用户权限提高\nsudo usermod -aG dialout $USER\nnewgrp dialout\n",[70,493,494,498,503,519],{"__ignoreMap":188},[192,495,496],{"class":194,"line":195},[192,497,255],{"emptyLinePlaceholder":254},[192,499,500],{"class":194,"line":229},[192,501,502],{"class":261},"# 将用户权限提高\n",[192,504,505,507,510,513,516],{"class":194,"line":251},[192,506,199],{"class":198},[192,508,509],{"class":202}," usermod",[192,511,512],{"class":413}," -aG",[192,514,515],{"class":202}," dialout",[192,517,518],{"class":219}," $USER\n",[192,520,521,524],{"class":194,"line":258},[192,522,523],{"class":198},"newgrp",[192,525,526],{"class":202}," dialout\n",[15,528,529,530,113],{},"For more operations related to Linux USB devices, please refer to the ",[21,531,533],{"href":532},"\u002Fwiki\u002F2024-03-30-linux-jiao-cheng\u002F0900-qi-ta-cao-zuo#usb%E7%AB%AF%E5%8F%A3%E8%AE%BE%E7%BD%AE","Vinci Robotics Team Linux Beginner Tutorial",[55,535,537],{"id":536},"initialization-details","Initialization Details",[539,540,541],"ol",{},[105,542,543],{},"Create a function package",[183,545,547],{"className":185,"code":546,"language":187,"meta":188,"style":188},"ros2 pkg create cpp01_serial --build-type ament_cmake --dependencies rclcpp serial_driver --node-name demo01_uart_send\n",[70,548,549],{"__ignoreMap":188},[192,550,551,554,557,560,563,566,569,572,575,578,581],{"class":194,"line":195},[192,552,553],{"class":198},"ros2",[192,555,556],{"class":202}," pkg",[192,558,559],{"class":202}," create",[192,561,562],{"class":202}," cpp01_serial",[192,564,565],{"class":413}," --build-type",[192,567,568],{"class":202}," ament_cmake",[192,570,571],{"class":413}," --dependencies",[192,573,574],{"class":202}," rclcpp",[192,576,577],{"class":202}," serial_driver",[192,579,580],{"class":413}," --node-name",[192,582,583],{"class":202}," demo01_uart_send\n",[539,585,586,592],{"start":229},[105,587,588,589],{},"Include the header file: ",[70,590,591],{},"#include \"serial_driver\u002Fserial_driver.hpp\"",[105,593,594],{},"First, initialize the serial port:",[15,596,597],{},[598,599],"img",{"alt":188,"src":600},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1772.webp",[15,602,603],{},[598,604],{"alt":188,"src":605},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1773.webp",[15,607,608],{},[598,609],{"alt":188,"src":610},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1774.webp",[15,612,613],{},[598,614],{"alt":188,"src":615},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1775.webp",[15,617,618,619,622],{},"The serial port initialization function ",[70,620,621],{},"init_port()"," has two parameters.",[15,624,625],{},"The first parameter device_name is the port name.",[15,627,628,629,632],{},"The second parameter, ",[70,630,631],{},"config",", is the serial port parameter settings.",[15,634,635,636,639],{},"The device_name is a string, which specifies the device name under the ",[70,637,638],{},"\u002Fdev"," directory.",[15,641,642],{},[598,643],{"alt":188,"src":644},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1776.webp",[15,646,647],{},[598,648],{"alt":188,"src":649},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1777.webp",[183,651,653],{"className":185,"code":652,"language":187,"meta":188,"style":188},"ls \u002Fdev | grep USB\n",[70,654,655],{"__ignoreMap":188},[192,656,657,660,663,666,669],{"class":194,"line":195},[192,658,659],{"class":198},"ls",[192,661,662],{"class":202}," \u002Fdev",[192,664,665],{"class":212}," |",[192,667,668],{"class":198}," grep",[192,670,671],{"class":202}," USB\n",[15,673,529,674,113],{},[21,675,533],{"href":532},[15,677,678],{},"config is a class object, so you need to create an instance of this class as follows:",[15,680,681],{},"This thing is a lightweight class, so there's no need to place it on the heap; just create it directly on the stack.",[15,683,684],{},[598,685],{"alt":188,"src":686},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1778.webp",[15,688,689,690,693],{},"SerialPortConfig(uint32_t baud_rate, ",[65,691,692],{},"drivers::serial_driver::FlowControl flow_control"," , drivers::serial_driver::Parity parity, drivers::serial_driver::StopBits stop_bits)",[15,695,696],{},"From this overloaded function, you can see (ask the control group if you don't understand the parameters).",[15,698,699],{},"The first parameter is baud_rate, the baud rate.",[15,701,702],{},"The second parameter, flow_control, is for flow control.",[15,704,705],{},"The third parameter, parity, is used for parity checking.",[15,707,708],{},"The fourth parameter stop_bits stop bits",[15,710,711,712,113],{},"The specific parameters are in ",[70,713,714],{},"serial_port.hpp",[15,716,717],{},[598,718],{"alt":188,"src":719},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1779.webp",[15,721,722],{},"The serial port has been successfully initialized.",[55,724,726],{"id":725},"detailed-explanation-of-the-code","Detailed explanation of the code",[539,728,729],{},[105,730,731],{},"Send main logic",[15,733,734,735,738],{},"Next, we will write the main sending logic. First, we need to create a delay. Instead of using a blocking loop like ",[70,736,737],{},"while(true)",", ROS2 provides a timer.",[15,740,741],{},"First, create a timer (no need to go into detail about creating a timer; if you don't understand, review Teacher Zhao's video above).",[15,743,744,745,748,749,113],{},"One thing to note is that we are using ",[65,746,747],{},"milliseconds",", not ",[65,750,751],{},"microseconds",[15,753,754],{},[598,755],{"alt":188,"src":756},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1780.webp",[15,758,759],{},[598,760],{"alt":188,"src":761},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1781.webp",[15,763,764,765,768,769,113],{},"The core function is this ",[70,766,767],{},"send"," function. As you can see, the input parameter is a vector of type ",[70,770,771],{},"vector",[15,773,774],{},[598,775],{"alt":188,"src":776},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1782.webp",[183,778,782],{"className":779,"code":780,"language":781,"meta":188,"style":188},"language-cpp shiki shiki-themes github-light github-dark","#include \"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n\nclass Serial_Node : public rclcpp::Node\n{\npublic:\n Serial_Node() : Node(\"serial_node_cpp\")\n {\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F 设置发送定时器\n send_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(500),\n std::bind(&Serial_Node::send_message_timer_callback, this));\n }\n\nprivate:\n void send_message_timer_callback()\n {\n \u002F\u002F 发送一串字符串\n const std::string message = \"Hello from ROS 2!\\n\";\n std::vector\u003Cuint8_t> data(message.begin(), message.end());\n \u002F\u002F std::vector\u003Cuint8_t> hex_data = {0x48, 0x65, 0x6C, 0x6C, 0x6F}; \u002F\u002F \"Hello\" in ASCII\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_sent_size = port->send(data);\n RCLCPP_INFO(this->get_logger(), \"Sent: %s (%ld bytes)\", message.c_str(), bytes_sent_size);\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n }\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> io_context_;\n rclcpp::TimerBase::SharedPtr send_timer_;\n};\n\nint main(int argc, char **argv)\n{\n rclcpp::init(argc, argv);\n\n auto node = std::make_shared\u003CSerial_Node>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 0;\n}\n","cpp",[70,783,784,792,799,803,825,830,835,855,860,865,871,876,882,903,908,934,940,946,964,973,991,1007,1024,1029,1035,1041,1047,1085,1091,1126,1138,1155,1160,1181,1229,1260,1266,1289,1294,1325,1333,1338,1343,1349,1367,1390,1415,1421,1426,1432,1444,1449,1455,1477,1506,1515,1533,1538,1543,1548,1567,1603,1608,1625,1630,1659,1664,1669,1674,1699,1722,1736,1742,1747,1778,1783,1796,1801,1825,1830,1843,1848,1860,1871],{"__ignoreMap":188},[192,785,786,789],{"class":194,"line":195},[192,787,788],{"class":212},"#include",[192,790,791],{"class":202}," \"rclcpp\u002Frclcpp.hpp\"\n",[192,793,794,796],{"class":194,"line":229},[192,795,788],{"class":212},[192,797,798],{"class":202}," 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{\n",[192,861,862],{"class":194,"line":307},[192,863,864],{"class":261}," \u002F\u002F 等设备准备好再初始化\n",[192,866,868],{"class":194,"line":867},10,[192,869,870],{"class":261}," \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n",[192,872,874],{"class":194,"line":873},11,[192,875,255],{"emptyLinePlaceholder":254},[192,877,879],{"class":194,"line":878},12,[192,880,881],{"class":261}," \u002F\u002F 串口设备名（根据实际设备调整）\n",[192,883,885,888,891,894,897,900],{"class":194,"line":884},13,[192,886,887],{"class":212}," const",[192,889,890],{"class":198}," std",[192,892,893],{"class":219},"::string device_name ",[192,895,896],{"class":212},"=",[192,898,899],{"class":202}," \"\u002Fdev\u002FttyUSB0\"",[192,901,902],{"class":219},";\n",[192,904,906],{"class":194,"line":905},14,[192,907,255],{"emptyLinePlaceholder":254},[192,909,911,914,916,919,922,925,928,931],{"class":194,"line":910},15,[192,912,913],{"class":198}," RCLCPP_INFO",[192,915,848],{"class":219},[192,917,918],{"class":413},"this",[192,920,921],{"class":219},"->",[192,923,924],{"class":198},"get_logger",[192,926,927],{"class":219},"(), ",[192,929,930],{"class":202},"\"Serial port Node Open!\"",[192,932,933],{"class":219},");\n",[192,935,937],{"class":194,"line":936},16,[192,938,939],{"class":261}," \u002F\u002F 创建串口配置对象\n",[192,941,943],{"class":194,"line":942},17,[192,944,945],{"class":261}," \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n",[192,947,949,952,954,956,959,961],{"class":194,"line":948},18,[192,950,951],{"class":198}," drivers",[192,953,821],{"class":219},[192,955,155],{"class":198},[192,957,958],{"class":219},"::SerialPortConfig ",[192,960,631],{"class":198},[192,962,963],{"class":219},"(\n",[192,965,967,970],{"class":194,"line":966},19,[192,968,969],{"class":413}," 9600",[192,971,972],{"class":219},",\n",[192,974,976,979,981,983,985,988],{"class":194,"line":975},20,[192,977,978],{"class":198}," 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try\n",[192,1042,1044],{"class":194,"line":1043},26,[192,1045,1046],{"class":219}," {\n",[192,1048,1050,1053,1055,1057,1059,1062,1064,1067,1069,1072,1074,1077,1080,1083],{"class":194,"line":1049},27,[192,1051,1052],{"class":219}," io_context_ ",[192,1054,896],{"class":212},[192,1056,890],{"class":198},[192,1058,821],{"class":219},[192,1060,1061],{"class":198},"make_shared",[192,1063,213],{"class":219},[192,1065,1066],{"class":198},"drivers",[192,1068,821],{"class":219},[192,1070,1071],{"class":198},"common",[192,1073,821],{"class":219},[192,1075,1076],{"class":198},"IoContext",[192,1078,1079],{"class":219},">(",[192,1081,1082],{"class":413},"1",[192,1084,933],{"class":219},[192,1086,1088],{"class":194,"line":1087},28,[192,1089,1090],{"class":261}," \u002F\u002F 初始化 serial_driver_\n",[192,1092,1094,1097,1099,1101,1103,1105,1107,1109,1111,1113,1115,1118,1120,1123],{"class":194,"line":1093},29,[192,1095,1096],{"class":219}," serial_driver_ 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config);\n",[192,1139,1141,1143,1146,1149,1152],{"class":194,"line":1140},31,[192,1142,1131],{"class":219},[192,1144,1145],{"class":198},"port",[192,1147,1148],{"class":219},"()->",[192,1150,1151],{"class":198},"open",[192,1153,1154],{"class":219},"();\n",[192,1156,1158],{"class":194,"line":1157},32,[192,1159,255],{"emptyLinePlaceholder":254},[192,1161,1163,1166,1168,1170,1172,1174,1176,1179],{"class":194,"line":1162},33,[192,1164,1165],{"class":198}," RCLCPP_INFO",[192,1167,848],{"class":219},[192,1169,918],{"class":413},[192,1171,921],{"class":219},[192,1173,924],{"class":198},[192,1175,927],{"class":219},[192,1177,1178],{"class":202},"\"Serial port initialized successfully\"",[192,1180,933],{"class":219},[192,1182,1184,1186,1188,1190,1192,1194,1196,1199,1202,1205,1208,1210,1213,1216,1218,1221,1223,1226],{"class":194,"line":1183},34,[192,1185,1165],{"class":198},[192,1187,848],{"class":219},[192,1189,918],{"class":413},[192,1191,921],{"class":219},[192,1193,924],{"class":198},[192,1195,927],{"class":219},[192,1197,1198],{"class":202},"\"Using device: ",[192,1200,1201],{"class":413},"%s",[192,1203,1204],{"class":202},"\"",[192,1206,1207],{"class":219},", serial_driver_->",[192,1209,1145],{"class":198},[192,1211,1212],{"class":219},"().",[192,1214,1215],{"class":198},"get",[192,1217,1148],{"class":219},[192,1219,1220],{"class":198},"device_name",[192,1222,1212],{"class":219},[192,1224,1225],{"class":198},"c_str",[192,1227,1228],{"class":219},"());\n",[192,1230,1232,1234,1236,1238,1240,1242,1244,1247,1250,1252,1255,1258],{"class":194,"line":1231},35,[192,1233,1165],{"class":198},[192,1235,848],{"class":219},[192,1237,918],{"class":413},[192,1239,921],{"class":219},[192,1241,924],{"class":198},[192,1243,927],{"class":219},[192,1245,1246],{"class":202},"\"Baud_rate: ",[192,1248,1249],{"class":413},"%d",[192,1251,1204],{"class":202},[192,1253,1254],{"class":219},", config.",[192,1256,1257],{"class":198},"get_baud_rate",[192,1259,1228],{"class":219},[192,1261,1263],{"class":194,"line":1262},36,[192,1264,1265],{"class":219}," }\n",[192,1267,1269,1272,1275,1278,1280,1283,1286],{"class":194,"line":1268},37,[192,1270,1271],{"class":212}," 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return",[192,1332,902],{"class":219},[192,1334,1336],{"class":194,"line":1335},41,[192,1337,1265],{"class":219},[192,1339,1341],{"class":194,"line":1340},42,[192,1342,255],{"emptyLinePlaceholder":254},[192,1344,1346],{"class":194,"line":1345},43,[192,1347,1348],{"class":261}," \u002F\u002F 设置发送定时器\n",[192,1350,1352,1355,1357,1360,1362,1365],{"class":194,"line":1351},44,[192,1353,1354],{"class":219}," send_timer_ ",[192,1356,896],{"class":212},[192,1358,1359],{"class":413}," this",[192,1361,921],{"class":219},[192,1363,1364],{"class":198},"create_wall_timer",[192,1366,963],{"class":219},[192,1368,1370,1373,1375,1378,1380,1382,1384,1387],{"class":194,"line":1369},45,[192,1371,1372],{"class":198}," 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void",[192,1439,1440],{"class":198}," send_message_timer_callback",[192,1442,1443],{"class":219},"()\n",[192,1445,1447],{"class":194,"line":1446},51,[192,1448,859],{"class":219},[192,1450,1452],{"class":194,"line":1451},52,[192,1453,1454],{"class":261}," \u002F\u002F 发送一串字符串\n",[192,1456,1458,1460,1462,1465,1467,1470,1473,1475],{"class":194,"line":1457},53,[192,1459,887],{"class":212},[192,1461,890],{"class":198},[192,1463,1464],{"class":219},"::string message ",[192,1466,896],{"class":212},[192,1468,1469],{"class":202}," \"Hello from ROS 2!",[192,1471,1472],{"class":413},"\\n",[192,1474,1204],{"class":202},[192,1476,902],{"class":219},[192,1478,1480,1483,1486,1489,1492,1495,1498,1501,1504],{"class":194,"line":1479},54,[192,1481,1482],{"class":198}," std",[192,1484,1485],{"class":219},"::vector",[192,1487,1488],{"class":212},"\u003Cuint8_t>",[192,1490,1491],{"class":198}," 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{\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F 设置发送定时器\n receive_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(3),\n std::bind(&Serial_Node::receive_message_timer_callback, this));\n }\n\nprivate:\n void receive_message_timer_callback()\n {\n std::vector\u003Cuint8_t> data(100); \u002F\u002F \"Hello\" in ASCII\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_receive_size = port->receive(data);\n if(bytes_receive_size > 0)\n {\n std::string message(data.begin(),data.begin() + bytes_receive_size);\n RCLCPP_INFO(this->get_logger(), \"Receive: %s (%ld bytes)\", message.c_str(), bytes_receive_size);\n }\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Receiving from serial 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method (efficient)",[183,2803,2805],{"className":779,"code":2804,"language":781,"meta":188,"style":188},"#include \"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n#include \u003Cstring>\n\nclass Serial_Node : public rclcpp::Node\n{\npublic:\n Serial_Node() : Node(\"serial_node_cpp\")\n {\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n async_receive_message();\n }\n\nprivate:\n void async_receive_message() \u002F\u002F创建一个函数更方便重新调用\n {\n auto port = serial_driver_->port();\n\n \u002F\u002F 设置接收回调函数\n port->async_receive([this](const std::vector\u003Cuint8_t> &data,const size_t &size) \n {\n if (size > 0)\n {\n \u002F\u002F 处理接收到的数据\n std::string received_message(data.begin(), data.begin() + size);\n RCLCPP_INFO(this->get_logger(), \"Received: %s (%ld bytes)\", received_message.c_str(),size);\n }\n \u002F\u002F 继续监听新的数据\n async_receive_message();\n }\n );\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> io_context_;\n std::vector\u003Cuint8_t> receive_data_buffer = std::vector\u003Cuint8_t>(1024); \u002F\u002F 接收缓冲区\n};\n\nint main(int argc, char **argv)\n{\n rclcpp::init(argc, argv);\n\n auto node = std::make_shared\u003CSerial_Node>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 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async_receive_message",[192,3249,1154],{"class":219},[192,3251,3252],{"class":194,"line":1369},[192,3253,1420],{"class":219},[192,3255,3256],{"class":194,"line":1392},[192,3257,255],{"emptyLinePlaceholder":254},[192,3259,3260],{"class":194,"line":1417},[192,3261,1431],{"class":212},[192,3263,3264,3266,3269,3272],{"class":194,"line":1423},[192,3265,1437],{"class":212},[192,3267,3268],{"class":198}," async_receive_message",[192,3270,3271],{"class":219},"()",[192,3273,3274],{"class":261}," \u002F\u002F创建一个函数更方便重新调用\n",[192,3276,3277],{"class":194,"line":1428},[192,3278,859],{"class":219},[192,3280,3281,3283,3285,3287,3289,3291],{"class":194,"line":1434},[192,3282,1520],{"class":212},[192,3284,1523],{"class":219},[192,3286,896],{"class":212},[192,3288,1528],{"class":219},[192,3290,1145],{"class":198},[192,3292,1154],{"class":219},[192,3294,3295],{"class":194,"line":1446},[192,3296,255],{"emptyLinePlaceholder":254},[192,3298,3299],{"class":194,"line":1451},[192,3300,3301],{"class":261}," \u002F\u002F 设置接收回调函数\n",[192,3303,3304,3307,3309,3312,3314,3317,3319,3321,3323,3325,3327,3330,3333,3335,3338,3341,3343,3346,3349,3352],{"class":194,"line":1457},[192,3305,3306],{"class":219}," port->",[192,3308,86],{"class":198},[192,3310,3311],{"class":219},"([",[192,3313,918],{"class":413},[192,3315,3316],{"class":219},"](",[192,3318,1277],{"class":212},[192,3320,890],{"class":198},[192,3322,821],{"class":219},[192,3324,771],{"class":198},[192,3326,213],{"class":219},[192,3328,3329],{"class":212},"uint8_t",[192,3331,3332],{"class":219},"> ",[192,3334,1285],{"class":212},[192,3336,3337],{"class":1762},"data",[192,3339,3340],{"class":219},",",[192,3342,1277],{"class":212},[192,3344,3345],{"class":212}," size_t",[192,3347,3348],{"class":212}," &",[192,3350,3351],{"class":1762},"size",[192,3353,3354],{"class":219},") \n",[192,3356,3357],{"class":194,"line":1479},[192,3358,1046],{"class":219},[192,3360,3361,3364,3367,3369,3371],{"class":194,"line":1508},[192,3362,3363],{"class":212}," if",[192,3365,3366],{"class":219}," (size ",[192,3368,223],{"class":212},[192,3370,1868],{"class":413},[192,3372,854],{"class":219},[192,3374,3375],{"class":194,"line":1517},[192,3376,3377],{"class":219}," {\n",[192,3379,3380],{"class":194,"line":1535},[192,3381,3382],{"class":261}," \u002F\u002F 处理接收到的数据\n",[192,3384,3385,3388,3390,3393,3395,3397,3400,3402,3404,3406],{"class":194,"line":1540},[192,3386,3387],{"class":198}," std",[192,3389,2508],{"class":219},[192,3391,3392],{"class":198},"received_message",[192,3394,2514],{"class":219},[192,3396,1497],{"class":198},[192,3398,3399],{"class":219},"(), data.",[192,3401,1497],{"class":198},[192,3403,2524],{"class":219},[192,3405,2527],{"class":212},[192,3407,3408],{"class":219}," size);\n",[192,3410,3411,3414,3416,3418,3420,3422,3424,3427,3429,3431,3433,3435,3438,3440],{"class":194,"line":1545},[192,3412,3413],{"class":198}," RCLCPP_INFO",[192,3415,848],{"class":219},[192,3417,918],{"class":413},[192,3419,921],{"class":219},[192,3421,924],{"class":198},[192,3423,927],{"class":219},[192,3425,3426],{"class":202},"\"Received: ",[192,3428,1201],{"class":413},[192,3430,1274],{"class":202},[192,3432,1591],{"class":413},[192,3434,1594],{"class":202},[192,3436,3437],{"class":219},", received_message.",[192,3439,1225],{"class":198},[192,3441,3442],{"class":219},"(),size);\n",[192,3444,3445],{"class":194,"line":1550},[192,3446,3447],{"class":219}," }\n",[192,3449,3450],{"class":194,"line":1569},[192,3451,3452],{"class":261}," \u002F\u002F 继续监听新的数据\n",[192,3454,3455,3458],{"class":194,"line":1605},[192,3456,3457],{"class":198}," async_receive_message",[192,3459,1154],{"class":219},[192,3461,3462],{"class":194,"line":1610},[192,3463,1265],{"class":219},[192,3465,3466],{"class":194,"line":1627},[192,3467,3468],{"class":219}," );\n",[192,3470,3471],{"class":194,"line":1632},[192,3472,1420],{"class":219},[192,3474,3475],{"class":194,"line":1661},[192,3476,255],{"emptyLinePlaceholder":254},[192,3478,3479,3481,3483,3485,3487,3489,3491,3493,3495],{"class":194,"line":1666},[192,3480,1679],{"class":198},[192,3482,1682],{"class":219},[192,3484,213],{"class":212},[192,3486,1066],{"class":198},[192,3488,821],{"class":219},[192,3490,155],{"class":198},[192,3492,1693],{"class":219},[192,3494,223],{"class":212},[192,3496,1698],{"class":219},[192,3498,3499,3501,3503,3505,3507,3509,3511,3513,3515],{"class":194,"line":1671},[192,3500,1679],{"class":198},[192,3502,1682],{"class":219},[192,3504,213],{"class":212},[192,3506,1066],{"class":198},[192,3508,821],{"class":219},[192,3510,1071],{"class":198},[192,3512,1716],{"class":219},[192,3514,223],{"class":212},[192,3516,1721],{"class":219},[192,3518,3519,3521,3523,3525,3528,3530,3532,3534,3536,3538,3540,3542,3545,3547],{"class":194,"line":1676},[192,3520,1679],{"class":198},[192,3522,1485],{"class":219},[192,3524,1488],{"class":212},[192,3526,3527],{"class":219}," receive_data_buffer ",[192,3529,896],{"class":212},[192,3531,890],{"class":198},[192,3533,821],{"class":219},[192,3535,771],{"class":198},[192,3537,213],{"class":219},[192,3539,3329],{"class":212},[192,3541,1079],{"class":219},[192,3543,3544],{"class":413},"1024",[192,3546,2438],{"class":219},[192,3548,3549],{"class":261}," \u002F\u002F 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code (both transmit and receive)",[183,3668,3670],{"className":779,"code":3669,"language":781,"meta":188,"style":188},"#include \"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n#include \u003Cstring>\n\nclass Serial_Node : public rclcpp::Node\n{\npublic:\n Serial_Node() : Node(\"serial_node_cpp\")\n {\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F 设置发送定时器\n transmit_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(5000),\n std::bind(&Serial_Node::send_message_timer_callback, this));\n\n async_receive_message(); \u002F\u002F进入异步接收\n }\n\nprivate:\n\n void send_message_timer_callback()\n {\n \u002F\u002F 发送一串字符串\n const std::string transmitted_message = \"Hello from ROS 2!\\n\";\n transmit_data_buffer = std::vector\u003Cuint8_t>(transmitted_message.begin(), transmitted_message.end());\n \u002F\u002F std::vector\u003Cuint8_t> hex_data = {0x48, 0x65, 0x6C, 0x6C, 0x6F}; \u002F\u002F \"Hello\" in ASCII\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_transmit_size = port->send(transmit_data_buffer);\n RCLCPP_INFO(this->get_logger(), \"Transmitted: %s (%ld bytes)\", transmitted_message.c_str(), bytes_transmit_size);\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n }\n }\n\n void async_receive_message() \u002F\u002F创建一个函数更方便重新调用\n {\n auto port = serial_driver_->port();\n\n \u002F\u002F 设置接收回调函数\n port->async_receive([this](const std::vector\u003Cuint8_t> &data,const size_t &size) \n {\n if (size > 0)\n {\n \u002F\u002F 处理接收到的数据\n std::string received_message(data.begin(), data.begin() + size);\n RCLCPP_INFO(this->get_logger(), \"Received: %s (%ld bytes)\", received_message.c_str(),size);\n }\n \u002F\u002F 继续监听新的数据\n async_receive_message();\n }\n );\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> io_context_;\n rclcpp::TimerBase::SharedPtr transmit_timer_;\n std::vector\u003Cuint8_t> transmit_data_buffer = std::vector\u003Cuint8_t>(1024); \u002F\u002F 发送缓冲区\n std::vector\u003Cuint8_t> receive_data_buffer = std::vector\u003Cuint8_t>(1024); \u002F\u002F 接收缓冲区\n};\n\nint main(int argc, char **argv)\n{\n rclcpp::init(argc, argv);\n\n auto node = std::make_shared\u003CSerial_Node>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 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