#include?“ros/ros.h“
#include?“std_msgs/String.h“
#include?“serial_msgs/serial.h“
#include?
#include?

#define?sBUFFERSIZE?????25
unsigned?char?s_buffer[sBUFFERSIZE];
unsigned?char?r_buffer[5];
serial::Serial?ser;

void?chatterCallback（const?serial_msgs::serial::ConstPtr&?msg）
{
?????ROS_INFO_STREAM（“Writing?to?serial?port“）;
????for（int?i=0;iserial.size（）;++i）
???????{
?????ROS_INFO（“Writing:?[0x%02x]“?msg->serial[i]）;
?????s_buffer[i]=msg->serial[i];
???????}
?????ser.write（s_buffersBUFFERSIZE）;
}

int?main（int?argc?char?**argv）
{
????ros::init（argc?argv?“l(fā)isten1“）;
????ros::NodeHandle?n;
????//訂閱read主題（即接受串口數(shù)據(jù)）

?????try
????{
????????ser.setPort（“/dev/ttyS0“）;
????????ser.setBaudrate（9600）;
????????serial::Timeout?to?=?serial::Timeout::simpleTimeout（1000）;
????????ser.setTimeout（to）;
????????ser.open（）;
????}
????catch?（serial::IOException&?e）
????{
????????ROS_ERROR_STREAM（“Unable?to?open?port?“）;
????????return?-1;
????}

????if（ser.isOpen（））{
????????ROS_INFO_STREAM（“Serial?Port?initialized“）;
????}else{
????????return?-1;
????}
????ros::Subscriber?sub?=?n.subscribe（“read1“?1000?chatterCallback）;

????ros::spin（）;

????return?0;
}