serial_node.cpp

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#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/thread.hpp>

#include <ros/ros.h>

#include "rosserial_server/serial_session.h"

int main(int argc, char* argv[])
{
  // Initialize ROS.
  ros::init(argc, argv, "rosserial_server_serial_node");
  std::string port;
  ros::param::param<std::string>("~port", port, "/dev/ttyACM0");
  int baud;
  ros::param::param<int>("~baud", baud, 57600);

  // Run boost::asio io service in a background thread.
  boost::asio::io_service io_service;
  new rosserial_server::SerialSession(io_service, port, baud);
  boost::thread(boost::bind(&boost::asio::io_service::run, &io_service));

  ros::spin();
  return 0;
}