h6x_serial_interface

HarvestX Serial Device Interface Package.

Repository Status

ROS2 Distro	Build status
humble

Requirements

• ROS 2
  • Ubuntu20 : Galactic Geochelone
  • Ubuntu22 : Humble Hawksbill

Install

Locate package in workspace

mkdir -p ~/ws_ros2/src
cd ~/ws_ros2/src
git clone [email protected]:HarvestX/h6x_serial_interface.git
rosdep install -r -y -i --from-paths . --rosdistro $ROS_DISTRO

Build Source

Open new terminal and type followings.

source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/ws_ros2
colcon build

Run simple example

Read packet from the device

• dev : Path of the device
• baudrate : Baudrate

ros2 run h6x_serial_interface_example simple_read_node_exec \
  --ros-args \
    -p dev:=/dev/ttyUSB0 -p baudrate:=115200

Write packet

• dev : Path of the device
• baudrate : Baudrate

The sample send Hello World as ASCII string.

ros2 run h6x_serial_interface_example simple_write_node_exec \
  --ros-args \
    -p dev:=/dev/ttyUSB0 -p baudrate:=115200

Create own interface

You can implement your own serial interface by using port_handler.

// Header
#include <h6x_serial_interface/h6x_serial_interface.hpp>

// - Source code --------------------------------------------------------
  std::string dev = "/dev/ttyUSB0";
  int baudrate = 115200;
  const auto port_handler = std::make_unique<h6x_serial_interface::PortHandler>(dev, baudrate);

  // Open port
  port_handler->openPort();

  // Get available bytes
  ssize_t available_bytes = port_handler->getBytesAvailable();

  // Read serial packet into read_buf
  char read_buf[128];
  port_handler->readPort(read_buf, sizeof(read_buf));

  // Write serial packet
  char write_buf[] = "Hello World";
  port_handler->writePort(write_buf, strlen(write_buf))

  // Close port
  port_handler->closePort();
// ----------------------------------------------------------------------