Shared_serial is a server that handles concurrent access to a serial port. This may be useful when multiple devices are connected to the same multi-drop bus (e.g. RS485) and you want to keep the system modular. It comes with a C++ client library for easy access, but can be used through normal messages and services as well.
To launch the node, use a launch file that sets the port and baud rate, like in
<launch> <node name="motor_comm" pkg="shared_serial" type="server"> <param name="port_name" value="/dev/ttyUSB0"/> <param name="port_type" value="RS485_FTDI"/> <param name="baud_rate" value="921600"/> </node> </launch>
Possible port types are RS232, RS485_FTDI, RS485_EXAR, RS485_SMSC and TCP. For TCP, the port name is "ip:port". The default 3mxl baud rate is 921600.