# Serial Communication Library
[![Build Status](https://travis-ci.org/wjwwood/serial.svg?branch=master)](https://travis-ci.org/wjwwood/serial)*(Linux and OS X)* [![Build Status](https://ci.appveyor.com/api/projects/status/github/wjwwood/serial)](https://ci.appveyor.com/project/wjwwood/serial)*(Windows)*
This is a cross-platform library for interfacing with rs-232 serial like ports written in C++. It provides a modern C++ interface with a workflow designed to look and feel like PySerial, but with the speed and control provided by C++.
This library is in use in several robotics related projects and can be built and installed to the OS like most unix libraries with make and then sudo make install, but because it is a catkin project it can also be built along side other catkin projects in a catkin workspace.
Serial is a class that provides the basic interface common to serial libraries (open, close, read, write, etc..) and requires no extra dependencies. It also provides tight control over timeouts and control over handshaking lines.
### Documentation
Website: http://wjwwood.github.com/serial/
API Documentation: http://wjwwood.github.com/serial/doc/1.1.0/index.html
### Dependencies
Required:
* [catkin](http://www.ros.org/wiki/catkin) - cmake and Python based buildsystem
* [cmake](http://www.cmake.org) - buildsystem
* [Python](http://www.python.org) - scripting language
* [empy](http://www.alcyone.com/pyos/empy/) - Python templating library
* [catkin_pkg](http://pypi.python.org/pypi/catkin_pkg/) - Runtime Python library for catkin
Optional (for tests):
* [Boost](http://www.boost.org/) - Boost C++ librairies
Optional (for documentation):
* [Doxygen](http://www.doxygen.org/) - Documentation generation tool
* [graphviz](http://www.graphviz.org/) - Graph visualization software
### Install
Get the code:
git clone https://github.com/wjwwood/serial.git
Build:
make
Build and run the tests:
make test
Build the documentation:
make doc
Install:
make install
### License
The MIT License
Copyright (c) 2012 William Woodall, John Harrison
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
### Authors
William Woodall <wjwwood@gmail.com>
John Harrison <ash.gti@gmail.com>
### Contact
William Woodall <william@osrfoundation.org>
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【项目资源】: 1、对着陆地面信息进行采集和处理 利用kinect传感器对地面信息进行采集,对相机内参进行标定并利用算法合成点云同时利用Rviz可视化三维点云数据。利用PCL点云处理技术对点云进行滤波处理并通过算法遍历点云数据得出关键点数据。 2、建立机械臂模型和坐标变换 编写urdf文件,利用ROS中的Gazebo、Moveit、Rviz等模块建立机械臂仿真模型,进行碰撞等物理仿真实验并完成运动学规划。将关键点坐标变换为对应腿部坐标并换算舵机的相应角度。 3、机械臂的制作 按照仿真模型利用CATIA制作机械臂,从动力学角度对机械臂进行ADAMS分析。制作机械臂实体并利用单片机驱动伺服电机以完成对机械臂姿态的调整。 4、在ROS操作系统上进行整合 利用QT进行ROS的项目管理,将所有程序进行整合,编写相应的CMakeLists.txt文件实现程序的完整运行。 【项目质量】: 所有源码都经过严格测试,可以直接运行。 功能在确认正常工作后才上传。 【沟通交流】: 有任何使用上的问题,欢迎随时与博主沟通,博主会及时解答。 鼓励下载和使用,并欢迎大家互相学习,共同进步。
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毕设&课设&项目&实训-基于ROS系统的无人机全地形视觉定位着陆系统.zip(完整源码项目工程) (347个子文件)
unix.cc 26KB
win.cc 15KB
serial.cc 8KB
list_ports_linux.cc 7KB
list_ports_osx.cc 7KB
serial_example.cc 4KB
list_ports_win.cc 4KB
unix_serial_tests.cc 2KB
unix_timer_tests.cc 1KB
tokenizer.cc 769B
mdc2250.cc 11B
search_keypoints.cpp 7KB
robot_action.cpp 5KB
serial_node.cpp 2KB
arm1_planning.cpp 2KB
arm2_planning.cpp 2KB
arm4_planning.cpp 2KB
arm3_planning.cpp 2KB
terrain_shooting.cpp 2KB
degree.cpp 1KB
success_landing.cpp 705B
listener.cpp 411B
附件1:创新训练项目申请书.doc 118KB
王晨模板.doc 30KB
~$1:创新训练项目申请书.doc 162B
附件4:大创项目管理模块流程.docx 1.24MB
吉林大学“大学生创新创业训练计划”项目学期检查表.docx 25KB
~$大学“大学生创新创业训练计划”项目学期检查表.docx 162B
serial.dox 2KB
Doxyfile 104KB
serial.vcxproj.filters 1KB
test_serial.vcxproj.filters 956B
serial.h 23KB
unix.h 4KB
win.h 4KB
v8stdint.h 2KB
Full text.html 32KB
Full text.html 32KB
Abstract.html 4KB
Abstract.html 4KB
模拟地形.jpg 3.25MB
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整体.jpg 2.88MB
电源.jpg 2.25MB
uno.jpg 549KB
hack.jpg 273KB
专利申请路线.jpg 264KB
chil.jpg 129KB
3D示意图.jpg 89KB
kinect传感器.jpg 55KB
8.jpg 54KB
6.jpg 40KB
pca9685.jpg 39KB
充电宝.jpg 28KB
eye.jpg 27KB
Kinect.jpg 20KB
dectect.jpg 18KB
wifi.jpg 14KB
move_group.launch 3KB
demo.launch 3KB
planning_context.launch 1KB
run_benchmark_ompl.launch 902B
default_warehouse_db.launch 711B
moveit_rviz.launch 668B
joystick_control.launch 629B
setup_assistant.launch 538B
display.launch 538B
gazebo.launch 525B
warehouse.launch 521B
arm_planning.launch 497B
start_serial.launch 373B
start_search_keypoints.launch 230B
robot_action.launch 154B
Makefile 2KB
README.md 3KB
README.md 752B
terrain_shooting.pcd 4.69MB
附件1:创新训练项目申请书.pdf 500KB
吉林大学“大学生创新创业训练计划”项目学期检查表.pdf 412KB
深圳市福田区金宝城林嘉信电子增值税电子普通发票.pdf 128KB
rosgraph.png 1.3MB
深度相机标定.png 897KB
实物图截图.png 821KB
彩色相机标定.png 742KB
7.png 587KB
关键点查询.png 421KB
demo_launch.png 358KB
robot_action.png 311KB
机械臂规划.png 310KB
串口.png 290KB
left-0084.png 263KB
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