void Serial_Close_Port(void)
{
if(serial_port.IsOpen())
{
serial_port.Close();
}
}
int main(int argc, char** argv)
{
cout << "opening port" << endl;
mySerial.Open(PORT);
mySerial.SetBaudRate(SerialStreamBuf::BAUD_9600);
mySerial.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
cout << "port open" << endl;
ros::init(argc, argv, "serialCommands");
ros::NodeHandle nh_;
ros::Subscriber arduino_sub = nh_.subscribe("arduino_commands", 60, arduinoCallback);
arduino_pub = nh_.advertise<std_msgs::String>("arduino_sensors", 5);
ros::spin();
mySerial.Close();
}
void serialport_close(const char* sp) {
/*The arduino must be setup to use the same baud rate*/
ardu.Close() ;
}