# 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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【作品名称】:基于ROS系统的无人机全地形视觉定位着陆系统 【适用人群】:适用于希望学习不同技术领域的小白或进阶学习者。可作为毕设项目、课程设计、大作业、工程实训或初期项目立项。 【项目介绍】:picture (相机标定图片和其他图片) project_code (项目代码) pcd_file (存储点云文件) robot (URDF文件) robot_action (MOVEIT_ACTION端 接受轨迹信息) robot_moveit_config (MOVEIT的配置文件) robots_plan (机械臂规划) search_keypoints (关键点查找) serial (串口驱动) serial_node (串口控制程序)
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