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What we have done is to create a serial node and publish to a string topic. We have done the same for a tcp and udp node as well.

For serial node you have to decide is you want to publish from a read or publish on a terminator. For ASCII protocols its usually done by ending with a terminator. So your serial node should be of type ASCII or BINARY. For ASCII it would send on a parameterized terminator. For BINARY it would send whatever the read returns. It would be the responsibility of the high node receiving the BINARY data to assemble the data into a packet.

BTW you will have to you assign to move the data from the serial port to the string topic.

Hope all that helps.

Separating in serial into a string topic also makes testing, and debugging easier. An extra feature is that if you have the same type of device, like a BMS, that returns a packet of UDP instead of serial yourBMS node does not have to change. We actually ran into this situation and all that was required was to change a launch file.

What we have done is to create a serial node and publish to a string topic. We have done the same for a tcp and udp node as well.

BTW you will have to you assign to move the data from the serial port to the string topic.

Hope all that helps.

Separating in serial into a string topic also makes testing, and debugging easier. An extra feature is that if you have the same type of device, like a BMS, that returns a packet of UDP instead of serial ~~yourBMS~~ your BMS node does not have to change. We actually ran into this situation and all that was required was to change a launch file.