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ros-drivers / rosserial

A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial
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Allow client change port #472

Closed dpetrini closed 4 years ago

dpetrini commented 4 years ago

Allow client main function change Serial port. For many current hardware boards is very common to have many serial ports. Currently if someone wants to change serial port need to change it in library code. This patch creates a setPort member in ArduinoHardware to expose this functionality.

Example in arduino setup()

Serial2.begin(230400, SERIAL_8N1, RXD2, TXD2); // set pins for serial2 in ESP delay(500);

nh.getHardware()->setBaud(230400); // set baud rate other than default (current available) nh.getHardware()->setPort(&Serial2); // set port other than default not changing library code (proposed change)

nh.initNode(); broadcaster.init(nh);

mikepurvis commented 4 years ago

I think most users who have needed this end up just defining their own Hardware class, particularly if they want to play with the buffer sizes anyway. However, the proposed change seems reasonable and harmless.