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Simon Markus Haller-Seeber
minibot
Commits
d1040f75
Commit
d1040f75
authored
Aug 24, 2021
by
Matteo Saveriano
Browse files
Fixed compilation issues with libserial1
parent
10804c02
Changes
1
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6 deletions
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-6
catkin_ws/src/lss_4dof/lss_4dof_hw/src/lss_4dof_hw_interface.cpp
...ws/src/lss_4dof/lss_4dof_hw/src/lss_4dof_hw_interface.cpp
+5
-6
No files found.
catkin_ws/src/lss_4dof/lss_4dof_hw/src/lss_4dof_hw_interface.cpp
View file @
d1040f75
...
...
@@ -10,7 +10,7 @@
#include <nav_msgs/Odometry.h>
#include <SerialStream.h>
#include <
libserial/
SerialStream.h>
using
namespace
LibSerial
;
#include "lss_4dof_hw_interface.h"
...
...
@@ -50,11 +50,10 @@ namespace lss_4dof_hw_interface
// Libserial Documentation: https://libserial.readthedocs.io/en/latest/description.html
SerialStream
serial
;
serial
.
Open
(
"/dev/ttyUSB0"
);
serial
.
SetCharSize
(
SerialStreamBuf
::
CHAR_SIZE_8
);
serial
.
SetBaudRate
(
SerialStreamBuf
::
DEFAULT_BAUD
);
serial
.
SetBaudRate
(
SerialStreamBuf
::
BAUD_115200
);
serial
.
SetNumOfStopBits
(
1
);
serial
.
SetFlowControl
(
SerialStreamBuf
::
FLOW_CONTROL_NONE
);
serial
.
SetCharacterSize
(
LibSerial
::
CharacterSize
::
CHAR_SIZE_8
);
serial
.
SetBaudRate
(
BaudRate
::
BAUD_115200
);
serial
.
SetStopBits
(
LibSerial
::
StopBits
::
STOP_BITS_1
);
serial
.
SetFlowControl
(
LibSerial
::
FlowControl
::
FLOW_CONTROL_NONE
);
if
(
serial
.
good
()){
ROS_INFO
(
"Successfully connected to the LSS 4 DoF Arm"
);
}
else
{
...
...
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