这个是我确定的串口库：serial: serial::Serial Class Reference (wjwwood.io)

我也不知道其他的串口库了，我就知道几个，然后我觉得这个是3个里面学习周期比较短，然后质量比较可靠的库

我隐隐觉得这个串口库就是ros1选择的串口库；看那个网址就是这个串口库的网址

 

 不错，这位仁兄同时开发了ROS2的rclcpp，就是普通教材里面介绍最多的那个rclcpp. 

代码下载地址：GitHub - wjwwood/serial: Cross-platform, Serial Port library written in C++

README.md

Serial Communication Library

(Linux and OS X) 

(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: Serial by wjwwood

API Documentation: serial: Serial Library

Dependencies

Required:

• catkin - cmake and Python based buildsystem
• cmake - buildsystem
• Python - scripting language
  • empy - Python templating library
  • catkin_pkg - Runtime Python library for catkin

Optional (for documentation):

• Doxygen - Documentation generation tool
• graphviz - 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

Authors

William Woodall wjwwood@gmail.com John Harrison ash.gti@gmail.com

Contact

William Woodall william@osrfoundation.org