一、安装编译FishProtocol
sudo apt install libboost-dev
git clone https://github.com/fishros/fish_protocol.git
cd fish_protocol
mkdir build && cd build
cmake ..
sudo make install
二、ROS2串口例程
1.编译运行功能包
cd fish_protocol/examples/example_ros2/example_fish_protocol
colcon build
source install/setup.bash
ros2 run example_fish_protocol example_fish_protocol
2.出现的问题
1.colcon build
报错
undefined reference to symbol '_ZN5boost6system15system_categoryEv
解决办法,打开终端,输入下面指令,定位到boost库
locate boost_system
得到下面路径
/usr/lib/x86_64-linux-gnu/libboost_system.a
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1
在CMakeLists文件中链接boost库
target_link_libraries(example_fish_protocol
"fish_protocol"
/usr/lib/x86_64-linux-gnu/libboost_system.a
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1
)
2.运行报错
can't open shared object file: No such file or direction
参考鱼香ROS的串口通信库Github主页最下面的常见报错解决办法
sudo sh -c "echo '/usr/local/lib' >> /etc/ld.so.conf"
sudo ldconfig
之后就可以成功运行了
3.串口通信
1.下载虚拟串口模拟器socat
参考链接
sudo apt-get install socat
首先打开输入指令,生成虚拟串口
socat -d -d pty,raw,echo=0 pty,raw,echo=0
将/dev/pts/1
串口用来发送数据,/dev/pts/2
串口用来接收数据
打开serial_subscribe1_node.cpp
文件,修改串口名;之后用colcon build
编译;接着新建一个终端,输入以下指令,监听/dev/pts/2中的数据
cat < /dev/pts/2
接着开启订阅节点
source install/setup.bash
ros2 run example_fish_protocol example_fish_protocol
可以看到用来监听的终端打印出了字符串