ROS教程5 使用串口 http://blog.csdn.net/u011853479/article/details/51261704 http://blog.csdn.net/u011853479/article/details/51263590 http://www.liuxiao.org/2016/07/ubuntu-orb-slam2-%E5%9C%A8-ros-%E4%B8%8A%E7%BC%96%E8%AF%91%E8%B0%83%E8%AF%95/