DriverComms(std::string port, int baudrate){
sp = new serial_port(io);
//connect to port
sp->open(port, ec);
if(ec)
{
//Failure to connect
ROS_ERROR_STREAM("Error connecting to expression board: " << ec.message());
sp->close();
delete sp;
throw std::exception();
}
//Set the baudrate
sp->set_option(serial_port_base::baud_rate(baudrate));
}
~DriverComms()
{
//Disconnect from port
sp->close();
delete sp;
}
