rt-rosserial/port

rosserial 移植

移植可以参照官网说明：

http://wiki.ros.org/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardware

主要也就是实现这几个函数：

class Hardware
{

  Hardware();

  // any initialization code necessary to use the serial port
  void init(); 

  // read a byte from the serial port. -1 = failure
  int read()

  // write data to the connection to ROS
  void write(uint8_t* data, int length);

  // returns milliseconds since start of program
  unsigned long time();

};