2025-02-19 21:49:10 +08:00
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```markdown
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2025-02-14 15:30:02 +08:00
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# rm_serial_driver
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2025-02-19 21:49:10 +08:00
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ROS2: 适用于RM的简易上位机串口通信程序。
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## 使用方式
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### 1. 安装依赖
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首先，安装所需的依赖包：
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```bash
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sudo apt install ros-humble-serial-driver
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```
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### 2. 编译并安装串口库
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克隆串口库源码并编译安装：
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```bash
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git clone https://github.com/ZhaoXiangBox/serial.git
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cd serial
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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```
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**注意**：安装完成后可能需要重启系统。
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### 3. 下载并编译项目
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将项目克隆到你的ROS2工作空间中：
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```bash
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cd ~/ros2_ws/src
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git clone https://github.com/goldenfishs/rm_serial_driver.git
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git clone https://github.com/goldenfishs/rm_msg.git # 包含所需的自定义话题消息，必须一起使用
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```
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回到工作空间并编译：
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```bash
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cd ~/ros2_ws
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colcon build
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source install/setup.bash
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```
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### 4. 运行程序
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使用以下命令启动串口驱动：
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```bash
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ros2 launch rm_serial_driver rm_serial_driver.launch.py
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```
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使用时请将上位机控制命令发送到data_ai话题，即可将数据传给下位机，下位机发送上来的数据会发布到data_mcu和data_ref话题，其他程序可直接哪去
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### 5. 自定义通信协议
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如果需要自定义通信协议，可以参考 `protocol.h` 文件，修改对应的协议。同时，修改 `rm_msgs` 包中的自定义消息，注意数据顺序和数据类型。修改完成后，重新编译即可。
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```bash
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colcon build
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source install/setup.bash
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```
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## 注意事项
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- 确保在修改协议和消息后重新编译项目。
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- 如果遇到问题，请检查串口连接和权限设置。
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