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For first test you can use the screen Programm to send the character $ you may need an neu line press enter. You need the boudrate

For example so:

screen /dev/ttyUSB0 9600

You may need to add you user to plugdev and dailout group.

Then you can use to Programm it. I would recomand to use python because it is mutch simpler for the serial port handling.

If you have to use cpp the you may use the Boost serial_port as boost is paart of ros https://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference/serial_port.html