serial_node.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 00003 ##################################################################### 00004 # Software License Agreement (BSD License) 00005 # 00006 # Copyright (c) 2011, Willow Garage, Inc. 00007 # All rights reserved. 00008 # 00009 # Redistribution and use in source and binary forms, with or without 00010 # modification, are permitted provided that the following conditions 00011 # are met: 00012 # 00013 # * Redistributions of source code must retain the above copyright 00014 # notice, this list of conditions and the following disclaimer. 00015 # * Redistributions in binary form must reproduce the above 00016 # copyright notice, this list of conditions and the following 00017 # disclaimer in the documentation and/or other materials provided 00018 # with the distribution. 00019 # * Neither the name of Willow Garage, Inc. nor the names of its 00020 # contributors may be used to endorse or promote products derived 00021 # from this software without specific prior written permission. 00022 # 00023 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 # POSSIBILITY OF SUCH DAMAGE. 00035 00036 __author__ = "mferguson@willowgarage.com (Michael Ferguson)" 00037 00038 import roslib; roslib.load_manifest("rosserial_python") 00039 import rospy 00040 from rosserial_python import SerialClient 00041 00042 import sys 00043 00044 if __name__=="__main__": 00045 rospy.init_node("serial_node") 00046 rospy.loginfo("ROS Serial Python Node") 00047 00048 port_name = rospy.get_param('~port','/dev/ttyUSB0') 00049 baud = int(rospy.get_param('~baud','57600')) 00050 00051 sys.argv = rospy.myargv(argv=sys.argv) 00052 00053 if len(sys.argv) == 2 : 00054 port_name = sys.argv[1] 00055 rospy.loginfo("Connected on %s at %d baud" % (port_name,baud) ) 00056 client = SerialClient(port_name, baud) 00057 try: 00058 client.run() 00059 except KeyboardInterrupt: 00060 pass 00061