[{"data":1,"prerenderedAt":841},["ShallowReactive",2],{"wiki-page-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":3,"wiki-doc-items-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":473,"language-switcher-data-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":825,"wiki-i18n-paths-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":840},{"id":4,"title":5,"body":6,"canonicalPath":454,"chapter":455,"chapterSort":456,"date":457,"description":56,"docI18nKey":458,"docKey":459,"docRoot":460,"docTitle":461,"extension":462,"i18nKey":463,"isBlogPost":464,"isWikiDoc":465,"isWikiIndex":464,"layout":466,"legacyPath":467,"locale":468,"localeSlug":469,"meta":470,"navigation":465,"path":454,"seo":471,"sourcePath":467,"sourceStem":463,"stem":463,"wikiDepth":64,"__hash__":472},"content/wiki/2023-12-30-ros2-tutorial/ch13-1-串口通信.md","UART串口通信",{"type":7,"value":8,"toc":444},"minimark",[9,14,18,21,40,43,47,50,81,84,87,162,165,169,172,262,265,268,334,337,340,348,351,374,377,383,387,390,396,399,405,408,411,414,440],[10,11,13],"h2",{"id":12},"linux-串口通信","Linux 串口通信",[15,16,17],"p",{},"串口通信是机器人和嵌入式项目中最常见的底层通信方式之一。",[15,19,20],{},"在实际项目中，上位机经常需要通过串口和 STM32、ESP32、Arduino、传感器模块、调试板等设备进行数据交互。例如：",[22,23,24,28,31,34,37],"ul",{},[25,26,27],"li",{},"上位机向 STM32 发送电机速度指令",[25,29,30],{},"STM32 向上位机返回编码器数据",[25,32,33],{},"读取 IMU、GPS、激光测距模块等传感器数据",[25,35,36],{},"使用 USB 转串口模块进行调试",[25,38,39],{},"在 ROS 2 底盘控制中和下位机通信",[15,41,42],{},"串口通信的特点是简单、通用、成本低，特别适合上位机和单片机之间的点对点通信。",[44,45,46],"h3",{"id":46},"串口通信是什么",[15,48,49],{},"串口通信通常指 UART 通信。在 Linux 上，常见的 USB 转串口设备会被识别为类似下面的设备文件：",[51,52,57],"pre",{"className":53,"code":54,"language":55,"meta":56,"style":56},"language-bash shiki shiki-themes github-light github-dark","/dev/ttyUSB0\n/dev/ttyUSB1\n/dev/ttyACM0\n","bash","",[58,59,60,69,75],"code",{"__ignoreMap":56},[61,62,65],"span",{"class":63,"line":64},"line",1,[61,66,68],{"class":67},"sScJk","/dev/ttyUSB0\n",[61,70,72],{"class":63,"line":71},2,[61,73,74],{"class":67},"/dev/ttyUSB1\n",[61,76,78],{"class":63,"line":77},3,[61,79,80],{"class":67},"/dev/ttyACM0\n",[15,82,83],{},"程序只需要打开对应的设备文件，并设置好波特率、数据位、停止位、校验位等参数，就可以进行数据收发。",[15,85,86],{},"常见参数包括：",[88,89,90,103],"table",{},[91,92,93],"thead",{},[94,95,96,100],"tr",{},[97,98,99],"th",{},"参数",[97,101,102],{},"说明",[104,105,106,122,130,138,146,154],"tbody",{},[94,107,108,112],{},[109,110,111],"td",{},"设备名",[109,113,114,115,118,119],{},"例如 ",[58,116,117],{},"/dev/ttyUSB0","、",[58,120,121],{},"/dev/ttyACM0",[94,123,124,127],{},[109,125,126],{},"波特率",[109,128,129],{},"例如 115200、921600",[94,131,132,135],{},[109,133,134],{},"数据位",[109,136,137],{},"常见为 8 位",[94,139,140,143],{},[109,141,142],{},"停止位",[109,144,145],{},"常见为 1 位",[94,147,148,151],{},[109,149,150],{},"校验位",[109,152,153],{},"常见为无校验",[94,155,156,159],{},[109,157,158],{},"流控",[109,160,161],{},"一般项目中常关闭硬件流控",[15,163,164],{},"在机器人项目中，串口通常不会只发送普通字符串，而是会设计自己的二进制通信协议，例如帧头、长度、命令字、数据区、CRC 校验等。",[44,166,168],{"id":167},"linux-下常见串口库","Linux 下常见串口库",[15,170,171],{},"Linux 下使用串口通信有多种方案，常见的包括：",[88,173,174,190],{},[91,175,176],{},[94,177,178,181,184,187],{},[97,179,180],{},"方案",[97,182,183],{},"类型",[97,185,186],{},"特点",[97,188,189],{},"适合场景",[104,191,192,206,220,234,248],{},[94,193,194,197,200,203],{},[109,195,196],{},"termios",[109,198,199],{},"Linux 原生接口",[109,201,202],{},"最底层、依赖少、通用性强，但代码相对繁琐",[109,204,205],{},"想深入理解 Linux 串口机制",[94,207,208,211,214,217],{},[109,209,210],{},"boost::asio",[109,212,213],{},"通用 C++ 库",[109,215,216],{},"支持同步/异步，代码结构较清晰，跨平台能力较好",[109,218,219],{},"推荐用于 C++ 工程封装",[94,221,222,225,228,231],{},[109,223,224],{},"libserial",[109,226,227],{},"第三方串口库",[109,229,230],{},"使用简单，比 termios 更易上手",[109,232,233],{},"普通串口收发项目",[94,235,236,239,242,245],{},[109,237,238],{},"serial_driver",[109,240,241],{},"ROS 2 生态封装",[109,243,244],{},"更方便接入 ROS 2，但不适合只依赖 ROS 2 以外的项目",[109,246,247],{},"纯 ROS 2 项目或参考实现",[94,249,250,253,256,259],{},[109,251,252],{},"pyserial",[109,254,255],{},"Python 串口库",[109,257,258],{},"使用非常简单，适合快速测试",[109,260,261],{},"Python 调试脚本",[15,263,264],{},"这些库本质上都是为了完成串口的打开、配置、读取和写入，只是封装层次不同。",[44,266,267],{"id":267},"各方案对比",[88,269,270,282],{},[91,271,272],{},[94,273,274,276,279],{},[97,275,180],{},[97,277,278],{},"优点",[97,280,281],{},"缺点",[104,283,284,294,304,314,324],{},[94,285,286,288,291],{},[109,287,196],{},[109,289,290],{},"Linux 原生、依赖最少、底层能力强",[109,292,293],{},"配置繁琐，初学者容易写错",[94,295,296,298,301],{},[109,297,210],{},[109,299,300],{},"C++ 工程友好，异步通信方便，适合封装 driver",[109,302,303],{},"需要理解 asio 的基本模型",[94,305,306,308,311],{},[109,307,224],{},[109,309,310],{},"简单易用，上手快",[109,312,313],{},"灵活性和工程可控性不如自己封装",[94,315,316,318,321],{},[109,317,238],{},[109,319,320],{},"和 ROS 2 生态结合方便",[109,322,323],{},"离开 ROS 2 后复用性较差",[94,325,326,328,331],{},[109,327,252],{},[109,329,330],{},"调试快，适合脚本",[109,332,333],{},"不适合作为高性能 C++ 底层驱动主线",[44,335,336],{"id":336},"本教程建议选择",[15,338,339],{},"本教程建议优先选择：",[51,341,346],{"className":342,"code":344,"language":345,"meta":56},[343],"language-text","boost::asio\n","text",[58,347,344],{"__ignoreMap":56},[15,349,350],{},"原因是：",[22,352,353,359,362,365,371],{},[25,354,355,356,358],{},"比直接使用 ",[58,357,196],{}," 更适合 C++ 工程开发",[25,360,361],{},"可以封装成普通 C++ driver，方便复用",[25,363,364],{},"不依赖 ROS 2，OpenCV、Qt、普通 C++ 项目都能使用",[25,366,367,368],{},"后续也可以很自然地接入 ",[58,369,370],{},"ros2_control hardware_interface",[25,372,373],{},"比较适合机器人上位机和 STM32 通信场景",[15,375,376],{},"推荐的工程结构是：",[51,378,381],{"className":379,"code":380,"language":345,"meta":56},[343],"上层项目：ROS 2 / OpenCV / Qt / 普通 C++ 程序\n        ↓\n自己封装的 SerialDriver 类\n        ↓\nboost::asio\n        ↓\n/dev/ttyUSB0\n        ↓\nSTM32 / ESP32 / 传感器\n",[58,382,380],{"__ignoreMap":56},[44,384,386],{"id":385},"与-ros-2-的关系","与 ROS 2 的关系",[15,388,389],{},"学习 Linux 串口通信，并不代表不用 ROS 2。",[15,391,392,393,395],{},"在 ROS 2 项目中，可以将串口通信封装成一个普通 C++ 类，然后在 ROS 2 节点或 ",[58,394,370],{}," 中调用它。",[15,397,398],{},"例如：",[51,400,403],{"className":401,"code":402,"language":345,"meta":56},[343],"ros2_control controller\n        ↓\nhardware_interface\n        ↓\n自己封装的 SerialDriver\n        ↓\nboost::asio\n        ↓\nSTM32\n",[58,404,402],{"__ignoreMap":56},[15,406,407],{},"这样做的好处是，串口通信代码不会和 ROS 2 强绑定。以后即使写 OpenCV 项目、Qt 上位机或者普通 C++ 调试程序，也可以继续复用同一套串口 driver。",[44,409,410],{"id":410},"本章学习目标",[15,412,413],{},"学习完本章后，应该能够掌握：",[22,415,416,419,425,428,431,434,437],{},[25,417,418],{},"Linux 下串口设备的基本概念",[25,420,421,422,424],{},"如何查看和打开 ",[58,423,117],{}," 等串口设备",[25,426,427],{},"串口波特率、数据位、停止位、校验位等基本参数",[25,429,430],{},"使用 C++ 进行串口数据收发",[25,432,433],{},"设计简单的上位机与下位机通信协议",[25,435,436],{},"将串口通信封装成可复用的 C++ 类",[25,438,439],{},"为后续接入 ROS 2、OpenCV、Qt 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