写一段在ros上实现与arduino通信的代码

以下是一段在ROS上实现与Arduino通信的代码示例：

/*
* Author: Your Name
* Date: YYYY/MM/DD
* Description: This ROS node communicates with an Arduino via serial communication and publishes the data to a ROS topic.
*/

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <string.h>
#include <sstream>
#include <serial/serial.h>

int main(int argc, char** argv)
{
ros::init(argc, argv, "arduino_publisher");
ros::NodeHandle nh;

// Define the serial port configuration
serial::Serial arduino_serial("/dev/ttyACM0", 9600, serial::Timeout::simpleTimeout(1000));

if (!arduino_serial.isOpen())
{
ROS_ERROR("Failed to open serial port");
return -1;
}

// Define the ROS topic publisher
ros::Publisher pub = nh.advertise<std_msgs::String>("arduino_data", 1000);

std_msgs::String msg;
std::stringstream ss;

while (ros::ok())
{
// Clear the serial buffer
arduino_serial.flushInput();

// Read data from the Arduino
std::string arduino_data = arduino_serial.readline();

// Convert the data to a ROS message and publish it
ss << arduino_data;
msg.data = ss.str();
pub.publish(msg);

// Clear the stringstream buffer
ss.str(std::string());

ros::spinOnce();
}

return 0;
}